diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
similarity index 100%
rename from libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
rename to libraries/AP_AHRS/AP_AHRS.cpp
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS.h
similarity index 100%
rename from libraries/AP_AHRS/AP_AHRS_NavEKF.h
rename to libraries/AP_AHRS/AP_AHRS.h