diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c
index b91bea02a..8452727c2 100644
--- a/flight/modules/TxPID/txpid.c
+++ b/flight/modules/TxPID/txpid.c
@@ -256,17 +256,17 @@ static void updatePIDs(UAVObjEvent *ev)
             case TXPIDSETTINGS_PIDS_ROLLRATEKP:
                 needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                 break;
-            case TXPIDSETTINGS_PIDS_ROLLRATEPID:
+            case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
                 easyTuneEnabled  = true;
                 needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
-                needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.PitchRollRateFactors.I);
-                needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.PitchRollRateFactors.D);
+                needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
+                needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
                 break;
-            case TXPIDSETTINGS_PIDS_PITCHRATEPID:
+            case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
                 easyTuneEnabled  = true;
                 needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
-                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.PitchRollRateFactors.I);
-                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.PitchRollRateFactors.D);
+                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLRATEKI:
                 needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
@@ -451,11 +451,11 @@ static void updatePIDs(UAVObjEvent *ev)
         AltitudeHoldSettingsSet(&altitude);
     }
 #endif
-    if (easyTuneEnabled && (inst.RatePIDRecalculateYaw != TXPIDSETTINGS_RATEPIDRECALCULATEYAW_FALSE)) {
-        float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.YawRateFactors.P;
+    if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
+        float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
         needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
-        needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.YawRateFactors.I);
-        needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.YawRateFactors.D);
+        needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
+        needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
     }
     if (needsUpdateBank) {
         switch (inst.BankNumber) {
diff --git a/ground/gcs/src/plugins/config/configtxpidwidget.cpp b/ground/gcs/src/plugins/config/configtxpidwidget.cpp
index 4ab3e657b..59acb17a6 100644
--- a/ground/gcs/src/plugins/config/configtxpidwidget.cpp
+++ b/ground/gcs/src/plugins/config/configtxpidwidget.cpp
@@ -167,8 +167,8 @@ static bool isExpoOption(int pidOption)
 static bool isFullPIDOption(int pidOption)
 {
     switch (pidOption) {
-    case TxPIDSettings::PIDS_ROLLRATEPID:
-    case TxPIDSettings::PIDS_PITCHRATEPID:
+    case TxPIDSettings::PIDS_EASYTUNERATEPITCH:
+    case TxPIDSettings::PIDS_EASYTUNERATEROLL:
         return true;
 
     default:
@@ -197,11 +197,11 @@ static float defaultValueForPidOption(const StabilizationSettingsBankX *bank, in
         return 0.0f;
 
     case TxPIDSettings::PIDS_ROLLRATEKP:
-    case TxPIDSettings::PIDS_ROLLRATEPID:
+    case TxPIDSettings::PIDS_EASYTUNERATEROLL:
         return bank->getRollRatePID_Kp();
 
     case TxPIDSettings::PIDS_PITCHRATEKP:
-    case TxPIDSettings::PIDS_PITCHRATEPID:
+    case TxPIDSettings::PIDS_EASYTUNERATEPITCH:
         return bank->getPitchRatePID_Kp();
 
     case TxPIDSettings::PIDS_ROLLPITCHRATEKP:
diff --git a/ground/gcs/src/plugins/config/txpid.ui b/ground/gcs/src/plugins/config/txpid.ui
index 2f4a78637..b4829de7f 100644
--- a/ground/gcs/src/plugins/config/txpid.ui
+++ b/ground/gcs/src/plugins/config/txpid.ui
@@ -883,7 +883,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:PitchRollRateFactors</string>
+                  <string>fieldname:EasyTunePitchRollRateFactors</string>
                   <string>scale:0.1</string>
                   <string>element:I</string>
                   <string>buttongroup:10</string>
@@ -948,7 +948,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:PitchRollRateFactors</string>
+                  <string>fieldname:EasyTunePitchRollRateFactors</string>
                   <string>scale:1</string>
                   <string>element:D</string>
                   <string>buttongroup:10</string>
@@ -973,7 +973,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:RatePIDRecalculateYaw</string>
+                  <string>fieldname:EasyTuneRatePIDRecalculateYaw</string>
                   <string>buttongroup:11</string>
                  </stringlist>
                 </property>
@@ -1039,7 +1039,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:YawRateFactors</string>
+                  <string>fieldname:EasyTuneYawRateFactors</string>
                   <string>scale:0.1</string>
                   <string>element:P</string>
                   <string>buttongroup:11</string>
@@ -1101,7 +1101,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:YawRateFactors</string>
+                  <string>fieldname:EasyTuneYawRateFactors</string>
                   <string>scale:1</string>
                   <string>element:I</string>
                   <string>buttongroup:11</string>
@@ -1166,7 +1166,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:YawRateFactors</string>
+                  <string>fieldname:EasyTuneYawRateFactors</string>
                   <string>scale:1</string>
                   <string>element:D</string>
                   <string>buttongroup:11</string>
@@ -1284,7 +1284,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:YawRateFactors</string>
+                  <string>fieldname:EasyTuneYawRateFactors</string>
                   <string>scale:1</string>
                   <string>element:P</string>
                   <string>buttongroup:11</string>
@@ -1324,7 +1324,7 @@ font:bold;</string>
                 <property name="objrelation" stdset="0">
                  <stringlist>
                   <string>objname:TxPIDSettings</string>
-                  <string>fieldname:PitchRollRateFactors</string>
+                  <string>fieldname:EasyTunePitchRollRateFactors</string>
                   <string>scale:1</string>
                   <string>element:I</string>
                   <string>buttongroup:10</string>
diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml
index 43adc6574..3bcc81067 100644
--- a/shared/uavobjectdefinition/txpidsettings.xml
+++ b/shared/uavobjectdefinition/txpidsettings.xml
@@ -11,7 +11,7 @@
         <field name="PIDs" units="option" type="enum"
 		elementnames="Instance1,Instance2,Instance3"
 		options="Disabled,
-			PitchRatePID,RollRatePID,
+			EasyTuneRatePitch,EasyTuneRateRoll,
 			Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
 			Pitch Rate.Kp, Pitch Rate.Ki, Pitch Rate.Kd, Pitch Rate.ILimit, Pitch Rate.Resp,
 			Roll+Pitch Rate.Kp, Roll+Pitch Rate.Ki, Roll+Pitch Rate.Kd, Roll+Pitch Rate.ILimit, Roll+Pitch Rate.Resp,
@@ -28,9 +28,9 @@
         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
 
-	<field name="PitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
-	<field name="YawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
-	<field name="RatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+	<field name="EasyTunePitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
+	<field name="EasyTuneYawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
+	<field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
 
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>