diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index fcd51d6ccb..e8949cac68 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -707,8 +707,8 @@ static void fast_loop()
 		if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
 			Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
 
-		if (g.log_bitmask & MASK_LOG_RAW)
-			Log_Write_Raw();
+		if (g.log_bitmask & MASK_LOG_IMU)
+			Log_Write_IMU();
 	#endif
 #endif
 	// inertial navigation
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 7a0a263727..7959c16d6d 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -55,7 +55,7 @@ print_log_menu(void)
 		PLOG(CTUN);
 		PLOG(NTUN);
 		PLOG(MODE);
-		PLOG(RAW);
+		PLOG(IMU);
 		PLOG(CMD);
 		PLOG(CUR);
 		#undef PLOG
@@ -176,7 +176,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
 		TARG(CTUN);
 		TARG(NTUN);
 		TARG(MODE);
-		TARG(RAW);
+		TARG(IMU);
 		TARG(CMD);
 		TARG(CUR);
 		#undef TARG
@@ -337,7 +337,7 @@ static void Log_Write_GPS(	int32_t log_Time, int32_t log_Lattitude, int32_t log_
 
 // Write an raw accel/gyro data packet. Total length : 28 bytes
 #if HIL_MODE != HIL_MODE_ATTITUDE
-static void Log_Write_Raw()
+static void Log_Write_IMU()
 {
 	Vector3f gyro = ins.get_gyro();
 	Vector3f accel = ins.get_accel();
@@ -345,7 +345,7 @@ static void Log_Write_Raw()
 	accel *= t7;
 	DataFlash.WriteByte(HEAD_BYTE1);
 	DataFlash.WriteByte(HEAD_BYTE2);
-	DataFlash.WriteByte(LOG_RAW_MSG);
+	DataFlash.WriteByte(LOG_IMU_MSG);
 
 	DataFlash.WriteLong((long)gyro.x);
 	DataFlash.WriteLong((long)gyro.y);
@@ -526,10 +526,10 @@ static void Log_Read_GPS()
 }
 
 // Read a raw accel/gyro packet
-static void Log_Read_Raw()
+static void Log_Read_IMU()
 {
 	float logvar;
-	cliSerial->printf_P(PSTR("RAW: "));
+	cliSerial->printf_P(PSTR("IMU: "));
 	for (int y = 0; y < 6; y++) {
 		logvar = (float)DataFlash.ReadLong() / t7;
 		cliSerial->print(logvar);
@@ -573,8 +573,8 @@ static void log_callback(uint8_t msgid)
         Log_Read_Performance();
         break;
     
-    case LOG_RAW_MSG:
-        Log_Read_Raw();
+    case LOG_IMU_MSG:
+        Log_Read_IMU();
         break;
 
     case LOG_CMD_MSG:
@@ -609,7 +609,7 @@ static void Log_Write_Performance() {}
 static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
 static void Log_Write_Attitude(int16_t log_roll, int16_t log_pitch, uint16_t log_yaw) {}
 static void Log_Write_Control_Tuning() {}
-static void Log_Write_Raw() {}
+static void Log_Write_IMU() {}
 
 
 #endif // LOGGING_ENABLED
diff --git a/APMrover2/config.h b/APMrover2/config.h
index bccefa69aa..51dd8d7b72 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -655,8 +655,8 @@
 #ifndef LOG_MODE
 # define LOG_MODE				ENABLED
 #endif
-#ifndef LOG_RAW
-# define LOG_RAW				DISABLED
+#ifndef LOG_IMU
+# define LOG_IMU				DISABLED
 #endif
 #ifndef LOG_CMD
 # define LOG_CMD				ENABLED
@@ -676,7 +676,7 @@
 		LOGBIT(CTUN)			| \
 		LOGBIT(NTUN)			| \
 		LOGBIT(MODE)			| \
-		LOGBIT(RAW)				| \
+		LOGBIT(IMU)				| \
 		LOGBIT(CMD)				| \
 		LOGBIT(CUR)
 
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 796d4c7326..99e0ca746e 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -135,27 +135,27 @@ enum gcs_severity {
 //  Logging parameters
 #define LOG_INDEX_MSG			0xF0
 #define LOG_ATTITUDE_MSG		0x01
-#define LOG_GPS_MSG			0x02
+#define LOG_GPS_MSG			    0x02
 #define LOG_MODE_MSG			0X03
-#define LOG_CONTROL_TUNING_MSG	        0X04
+#define LOG_CONTROL_TUNING_MSG	0X04
 #define LOG_NAV_TUNING_MSG		0X05
 #define LOG_PERFORMANCE_MSG		0X06
-#define LOG_RAW_MSG			0x07
-#define LOG_CMD_MSG			0x08
+#define LOG_IMU_MSG			    0x07
+#define LOG_CMD_MSG			    0x08
 #define LOG_CURRENT_MSG 		0x09
 #define LOG_STARTUP_MSG 		0x0A
 #define TYPE_AIRSTART_MSG		0x00
-#define TYPE_GROUNDSTART_MSG	        0x01
+#define TYPE_GROUNDSTART_MSG	0x01
 #define MAX_NUM_LOGS			100
 
-#define MASK_LOG_ATTITUDE_FAST 	        (1<<0)
-#define MASK_LOG_ATTITUDE_MED 	        (1<<1)
+#define MASK_LOG_ATTITUDE_FAST 	(1<<0)
+#define MASK_LOG_ATTITUDE_MED 	(1<<1)
 #define MASK_LOG_GPS 			(1<<2)
 #define MASK_LOG_PM 			(1<<3)
 #define MASK_LOG_CTUN 			(1<<4)
 #define MASK_LOG_NTUN			(1<<5)
 #define MASK_LOG_MODE			(1<<6)
-#define MASK_LOG_RAW			(1<<7)
+#define MASK_LOG_IMU			(1<<7)
 #define MASK_LOG_CMD			(1<<8)
 #define MASK_LOG_CUR			(1<<9)