diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 4d445fc59c..431af2e12c 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -79,7 +79,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: 1st GPS type
     // @Description: GPS type of 1st GPS
-    // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:UAVCAN-MovingBaseline-Base,23:UAVCAN-MovingBaseline-Rover
+    // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("_TYPE",    0, AP_GPS, _type[0], HAL_GPS_TYPE_DEFAULT),
@@ -88,7 +88,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _TYPE2
     // @DisplayName: 2nd GPS type
     // @Description: GPS type of 2nd GPS
-    // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:UAVCAN-MovingBaseline-Base,23:UAVCAN-MovingBaseline-Rover
+    // @Values: 0:None,1:AUTO,2:uBlox,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:DroneCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS,22:DroneCAN-MovingBaseline-Base,23:DroneCAN-MovingBaseline-Rover
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("_TYPE2",   1, AP_GPS, _type[1], 0),
@@ -181,7 +181,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _AUTO_CONFIG
     // @DisplayName: Automatic GPS configuration
     // @Description: Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
-    // @Values: 0:Disables automatic configuration,1:Enable automatic configuration for Serial GPSes only,2:Enable automatic configuration for UAVCAN as well
+    // @Values: 0:Disables automatic configuration,1:Enable automatic configuration for Serial GPSes only,2:Enable automatic configuration for DroneCAN as well
     // @User: Advanced
     AP_GROUPINFO("_AUTO_CONFIG", 13, AP_GPS, _auto_config, 1),
 
@@ -364,14 +364,14 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_GROUPINFO("_CAN_NODEID2", 29, AP_GPS, _node_id[1], 0),
 #endif // GPS_MAX_RECEIVERS > 1
     // @Param: 1_CAN_OVRIDE
-    // @DisplayName: First UAVCAN GPS NODE ID
+    // @DisplayName: First DroneCAN GPS NODE ID
     // @Description: GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
     // @User: Advanced
     AP_GROUPINFO("1_CAN_OVRIDE", 30, AP_GPS, _override_node_id[0], 0),
 
 #if GPS_MAX_RECEIVERS > 1
     // @Param: 2_CAN_OVRIDE
-    // @DisplayName: Second UAVCAN GPS NODE ID
+    // @DisplayName: Second DroneCAN GPS NODE ID
     // @Description: GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
     // @User: Advanced
     AP_GROUPINFO("2_CAN_OVRIDE", 31, AP_GPS, _override_node_id[1], 0),