diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 1a6780eccf..060db4f492 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1032,8 +1032,8 @@ void AP_InertialSensor::update(void)
     if (!_hil_mode) {
         for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
             // mark sensors unhealthy and let update() in each backend
-            // mark them healthy via _rotate_and_offset_gyro() and
-            // _rotate_and_offset_accel() 
+            // mark them healthy via _publish_gyro() and
+            // _publish_accel()
             _gyro_healthy[i] = false;
             _accel_healthy[i] = false;
         }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 3ed5dd28f0..5d7e467fd6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -12,7 +12,7 @@ AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
 /*
   rotate gyro vector and add the gyro offset
  */
-void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro)
+void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro)
 {
     _imu._gyro[instance] = gyro;
     _imu._gyro[instance].rotate(_imu._board_orientation);
@@ -23,7 +23,7 @@ void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const
 /*
   rotate accel vector, scale and add the accel offset
  */
-void AP_InertialSensor_Backend::_rotate_and_offset_accel(uint8_t instance, const Vector3f &accel)
+void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel)
 {
     _imu._accel[instance] = accel;
     _imu._accel[instance].rotate(_imu._board_orientation);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index acd6254ba1..37ba0a1533 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -36,7 +36,7 @@ public:
     /* 
      * Update the sensor data. Called by the frontend to transfer
      * accumulated sensor readings to the frontend structure via the
-     * _rotate_and_offset_gyro() and _rotate_and_offset_accel() functions
+     * _publish_gyro() and _publish_accel() functions
      */
     virtual bool update() = 0;
 
@@ -64,8 +64,11 @@ protected:
     // rotate gyro vector and offset
     void _rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro);
 
-    // rotate accel vector, scale and offset
-    void _rotate_and_offset_accel(uint8_t instance, const Vector3f &accel);
+    // rotate gyro vector, offset and publish
+    void _publish_gyro(uint8_t instance, const Vector3f &gyro);
+
+    // rotate accel vector, scale, offset and publish
+    void _publish_accel(uint8_t instance, const Vector3f &accel);
 
     // set accelerometer error_count
     void _set_accel_error_count(uint8_t instance, uint32_t error_count);
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
index 25b5fa97c0..67e1764c2c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.cpp
@@ -182,11 +182,11 @@ bool AP_InertialSensor_Flymaple::update(void)
 
     // Adjust for chip scaling to get m/s/s
     accel *= FLYMAPLE_ACCELEROMETER_SCALE_M_S;
-    _rotate_and_offset_accel(_accel_instance, accel);
+    _publish_accel(_accel_instance, accel);
 
     // Adjust for chip scaling to get radians/sec
     gyro *= FLYMAPLE_GYRO_SCALE_R_S;
-    _rotate_and_offset_gyro(_gyro_instance, gyro);
+    _publish_gyro(_gyro_instance, gyro);
 
     if (_last_filter_hz != _imu.get_filter()) {
         _set_filter_frequency(_imu.get_filter());
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
index f1c758b282..5a616f2f86 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
@@ -251,11 +251,11 @@ bool AP_InertialSensor_L3G4200D::update(void)
 
     // Adjust for chip scaling to get m/s/s
     accel *= ADXL345_ACCELEROMETER_SCALE_M_S;
-    _rotate_and_offset_accel(_accel_instance, accel);
+    _publish_accel(_accel_instance, accel);
 
     // Adjust for chip scaling to get radians/sec
     gyro *= L3G4200D_GYRO_SCALE_R_S;
-    _rotate_and_offset_gyro(_gyro_instance, gyro);
+    _publish_gyro(_gyro_instance, gyro);
 
     if (_last_filter_hz != _imu.get_filter()) {
         _set_filter_frequency(_imu.get_filter());
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 7336419854..5678996ba0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -295,10 +295,10 @@ bool AP_InertialSensor_MPU6000::update( void )
     hal.scheduler->resume_timer_procs();
 
     gyro *= _gyro_scale / num_samples;
-    _rotate_and_offset_gyro(_gyro_instance, gyro);
+    _publish_gyro(_gyro_instance, gyro);
 
     accel *= MPU6000_ACCEL_SCALE_1G / num_samples;
-    _rotate_and_offset_accel(_accel_instance, accel);
+    _publish_accel(_accel_instance, accel);
 
     if (_last_filter_hz != _imu.get_filter()) {
         if (_spi_sem->take(10)) {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
index d941deb105..32682039b6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.cpp
@@ -1101,10 +1101,10 @@ bool AP_InertialSensor_MPU9150::update(void)
     hal.scheduler->resume_timer_procs();
 
     accel *= MPU9150_ACCEL_SCALE_2G;
-    _rotate_and_offset_accel(_accel_instance, accel);
+    _publish_accel(_accel_instance, accel);
 
     gyro *= MPU9150_GYRO_SCALE_2000;
-    _rotate_and_offset_gyro(_gyro_instance, gyro);
+    _publish_gyro(_gyro_instance, gyro);
 
     if (_last_filter_hz != _imu.get_filter()) {
         _set_filter_frequency(_imu.get_filter());
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 421b0c27c0..4f22827cb3 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -289,8 +289,8 @@ bool AP_InertialSensor_MPU9250::update( void )
     gyro.rotate(ROTATION_ROLL_180);
 #endif
 
-    _rotate_and_offset_gyro(_gyro_instance, gyro);
-    _rotate_and_offset_accel(_accel_instance, accel);
+    _publish_gyro(_gyro_instance, gyro);
+    _publish_accel(_accel_instance, accel);
 
     if (_last_filter_hz != _imu.get_filter()) {
         _set_filter(_imu.get_filter());
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index df56b44746..2ef92e0eaf 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@@ -104,14 +104,14 @@ bool AP_InertialSensor_Oilpan::update()
     v(_sensor_signs[0] * ( adc_values[0] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_x,
       _sensor_signs[1] * ( adc_values[1] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_y,
       _sensor_signs[2] * ( adc_values[2] - OILPAN_RAW_GYRO_OFFSET ) * _gyro_gain_z);
-    _rotate_and_offset_gyro(_gyro_instance, v);
+    _publish_gyro(_gyro_instance, v);
 
     // copy accels to frontend
     v(_sensor_signs[3] * (adc_values[3] - OILPAN_RAW_ACCEL_OFFSET),
       _sensor_signs[4] * (adc_values[4] - OILPAN_RAW_ACCEL_OFFSET),
       _sensor_signs[5] * (adc_values[5] - OILPAN_RAW_ACCEL_OFFSET));
     v *= OILPAN_ACCEL_SCALE_1G;
-    _rotate_and_offset_accel(_accel_instance, v);
+    _publish_accel(_accel_instance, v);
 
     return true;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
index c107c5f80a..42112f3a35 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
@@ -107,20 +107,20 @@ bool AP_InertialSensor_PX4::update(void)
 
     for (uint8_t k=0; k<_num_accel_instances; k++) {
         Vector3f accel = _accel_in[k];
-        // calling _rotate_and_offset_accel sets the sensor healthy,
+        // calling _publish_accel sets the sensor healthy,
         // so we only want to do this if we have new data from it
         if (_last_accel_timestamp[k] != _last_accel_update_timestamp[k]) {
-            _rotate_and_offset_accel(_accel_instance[k], accel);
+            _publish_accel(_accel_instance[k], accel);
             _last_accel_update_timestamp[k] = _last_accel_timestamp[k];
         }
     }
 
     for (uint8_t k=0; k<_num_gyro_instances; k++) {
         Vector3f gyro = _gyro_in[k];
-        // calling _rotate_and_offset_accel sets the sensor healthy,
+        // calling _publish_accel sets the sensor healthy,
         // so we only want to do this if we have new data from it
         if (_last_gyro_timestamp[k] != _last_gyro_update_timestamp[k]) {
-            _rotate_and_offset_gyro(_gyro_instance[k], gyro);
+            _publish_gyro(_gyro_instance[k], gyro);
             _last_gyro_update_timestamp[k] = _last_gyro_timestamp[k];
         }
     }