diff --git a/libraries/AP_Winch/AP_Winch.cpp b/libraries/AP_Winch/AP_Winch.cpp
index b333e61d11..c0568e4ec2 100644
--- a/libraries/AP_Winch/AP_Winch.cpp
+++ b/libraries/AP_Winch/AP_Winch.cpp
@@ -1,5 +1,5 @@
 #include "AP_Winch.h"
-#include "AP_Winch_Servo.h"
+#include "AP_Winch_PWM.h"
 #include "AP_Winch_Daiwa.h"
 
 extern const AP_HAL::HAL& hal;
@@ -11,7 +11,7 @@ const AP_Param::GroupInfo AP_Winch::var_info[] = {
     // @DisplayName: Winch Type
     // @Description: Winch Type
     // @User: Standard
-    // @Values: 0:None, 1:Servo, 2:Daiwa
+    // @Values: 0:None, 1:PWM, 2:Daiwa
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Winch, config.type, (int8_t)WinchType::NONE, AP_PARAM_FLAG_ENABLE),
 
     // @Param: _RATE_MAX
@@ -67,8 +67,8 @@ void AP_Winch::init()
     switch ((WinchType)config.type.get()) {
     case WinchType::NONE:
         break;
-    case WinchType::SERVO:
-        backend = new AP_Winch_Servo(config);
+    case WinchType::PWM:
+        backend = new AP_Winch_PWM(config);
         break;
     case WinchType::DAIWA:
         backend = new AP_Winch_Daiwa(config);
diff --git a/libraries/AP_Winch/AP_Winch.h b/libraries/AP_Winch/AP_Winch.h
index 58056b6aee..0e03f7d0a7 100644
--- a/libraries/AP_Winch/AP_Winch.h
+++ b/libraries/AP_Winch/AP_Winch.h
@@ -24,7 +24,7 @@ class AP_Winch_Backend;
 
 class AP_Winch {
     friend class AP_Winch_Backend;
-    friend class AP_Winch_Servo;
+    friend class AP_Winch_PWM;
     friend class AP_Winch_Daiwa;
 
 public:
@@ -75,7 +75,7 @@ private:
 
     enum class WinchType {
         NONE = 0,
-        SERVO = 1,
+        PWM = 1,
         DAIWA = 2
     };
 
diff --git a/libraries/AP_Winch/AP_Winch_Servo.cpp b/libraries/AP_Winch/AP_Winch_PWM.cpp
similarity index 93%
rename from libraries/AP_Winch/AP_Winch_Servo.cpp
rename to libraries/AP_Winch/AP_Winch_PWM.cpp
index fb2ed3f418..0263a7b851 100644
--- a/libraries/AP_Winch/AP_Winch_Servo.cpp
+++ b/libraries/AP_Winch/AP_Winch_PWM.cpp
@@ -1,10 +1,10 @@
-#include <AP_Winch/AP_Winch_Servo.h>
+#include "AP_Winch_PWM.h"
 #include <GCS_MAVLink/GCS.h>
 
 extern const AP_HAL::HAL& hal;
 
 // true if winch is healthy
-bool AP_Winch_Servo::healthy() const
+bool AP_Winch_PWM::healthy() const
 {
     // return immediately if no servo is assigned to control the winch
     if (!SRV_Channels::function_assigned(SRV_Channel::k_winch)) {
@@ -14,7 +14,7 @@ bool AP_Winch_Servo::healthy() const
     return true;
 }
 
-void AP_Winch_Servo::update()
+void AP_Winch_PWM::update()
 {
     // return immediately if no servo is assigned to control the winch
     if (!SRV_Channels::function_assigned(SRV_Channel::k_winch)) {
@@ -29,7 +29,7 @@ void AP_Winch_Servo::update()
 }
 
 // update pwm outputs to control winch
-void AP_Winch_Servo::control_winch()
+void AP_Winch_PWM::control_winch()
 {
     const uint32_t now_ms = AP_HAL::millis();
     float dt = (now_ms - control_update_ms) / 1000.0f;
@@ -66,7 +66,7 @@ void AP_Winch_Servo::control_winch()
 }
 
 //send generator status
-void AP_Winch_Servo::send_status(const GCS_MAVLINK &channel)
+void AP_Winch_PWM::send_status(const GCS_MAVLINK &channel)
 {
     // prepare status bitmask
     uint32_t status_bitmask = 0;
@@ -88,7 +88,7 @@ void AP_Winch_Servo::send_status(const GCS_MAVLINK &channel)
 }
 
 // write log
-void AP_Winch_Servo::write_log()
+void AP_Winch_PWM::write_log()
 {
     AP::logger().Write_Winch(
             healthy(),
diff --git a/libraries/AP_Winch/AP_Winch_Servo.h b/libraries/AP_Winch/AP_Winch_PWM.h
similarity index 96%
rename from libraries/AP_Winch/AP_Winch_Servo.h
rename to libraries/AP_Winch/AP_Winch_PWM.h
index f276f520e0..493a312599 100644
--- a/libraries/AP_Winch/AP_Winch_Servo.h
+++ b/libraries/AP_Winch/AP_Winch_PWM.h
@@ -18,7 +18,7 @@
 #include <AP_Winch/AP_Winch_Backend.h>
 #include <SRV_Channel/SRV_Channel.h>
 
-class AP_Winch_Servo : public AP_Winch_Backend {
+class AP_Winch_PWM : public AP_Winch_Backend {
 public:
 
     using AP_Winch_Backend::AP_Winch_Backend;