diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.cpp
index ac780db94c..d013c18798 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.cpp
@@ -14,61 +14,60 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_RangeFinder_CompanionComputer.h"
+#include "AP_RangeFinder_MAVLink.h"
 #include <AP_HAL/AP_HAL.h>
 
 
 
 extern const AP_HAL::HAL& hal;
 
-/* 
+/*
    The constructor also initialises the rangefinder. Note that this
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_CompanionComputer::AP_RangeFinder_CompanionComputer(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
+AP_RangeFinder_MAVLink::AP_RangeFinder_MAVLink(RangeFinder &_ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state) :
     AP_RangeFinder_Backend(_ranger, instance, _state)
 {
     last_update_ms = AP_HAL::millis();
-    cc_distance_cm = 0;
+    distance_cm = 0;
 }
 
-/* 
-   detect if a CompanionComputer rangefinder is connected. We'll detect by
+/*
+   detect if a MAVLink rangefinder is connected. We'll detect by
    checking a paramter.
 */
-bool AP_RangeFinder_CompanionComputer::detect(RangeFinder &_ranger, uint8_t instance)
+bool AP_RangeFinder_MAVLink::detect(RangeFinder &_ranger, uint8_t instance)
 {
-    //Assume that if the user set the RANGEFINDER_TYPE parameter to CompanionComputer,
-    //there is an attached companion computer rangefinder
+    // Assume that if the user set the RANGEFINDER_TYPE parameter to MAVLink,
+    // there is an attached MAVLink rangefinder
     return true;
 }
 
 /*
    Set the distance based on a MAVLINK message
 */
-void AP_RangeFinder_CompanionComputer::handle_msg(mavlink_message_t *msg)
+void AP_RangeFinder_MAVLink::handle_msg(mavlink_message_t *msg)
 {
     mavlink_distance_sensor_t packet;
     mavlink_msg_distance_sensor_decode(msg, &packet);
 
     last_update_ms = AP_HAL::millis();
-    cc_distance_cm = packet.current_distance;
+    distance_cm = packet.current_distance;
 }
 
-/* 
+/*
    update the state of the sensor
 */
-void AP_RangeFinder_CompanionComputer::update(void)
+void AP_RangeFinder_MAVLink::update(void)
 {
     //Time out on incoming data; if we don't get new
     //data in 500ms, dump it
-    if(AP_HAL::millis() - last_update_ms > AP_RANGEFINDER_COMPANIONCOMPUTER_TIMEOUT_MS)
-    {
+    if(AP_HAL::millis() - last_update_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
         set_status(RangeFinder::RangeFinder_NoData);
         state.distance_cm = 0;
     } else {
         set_status(RangeFinder::RangeFinder_Good);
-        state.distance_cm = cc_distance_cm;
+        state.distance_cm = distance_cm;
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.h b/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.h
index 085592d976..3c2e4cd88a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_CompanionComputer.h
@@ -4,19 +4,15 @@
 #include "RangeFinder.h"
 #include "RangeFinder_Backend.h"
 
-// min and max distances
-#define AP_RANGEFINDER_COMPANIONCOMPUTER_MIN_DISTANCE 0
-#define AP_RANGEFINDER_COMPANIONCOMPUTER_MAX_DISTANCE 1400
-
 // Data timeout
-#define AP_RANGEFINDER_COMPANIONCOMPUTER_TIMEOUT_MS 500
+#define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
 
-class AP_RangeFinder_CompanionComputer : public AP_RangeFinder_Backend
+class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
 {
 
 public:
     // constructor
-    AP_RangeFinder_CompanionComputer(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_MAVLink(RangeFinder &ranger, uint8_t instance, RangeFinder::RangeFinder_State &_state);
 
     // static detection function
     static bool detect(RangeFinder &ranger, uint8_t instance);
@@ -28,7 +24,7 @@ public:
     void handle_msg(mavlink_message_t *msg);
 
 private:
-    uint16_t cc_distance_cm;
+    uint16_t distance_cm;
     uint32_t last_update_ms;
 
     // start a reading
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 79445b9971..dfa0223b9d 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -539,10 +539,10 @@ void RangeFinder::detect_instance(uint8_t instance)
         }
     }
 #endif
-    if (type == RangeFinder_TYPE_CC) {
-        if (AP_RangeFinder_CompanionComputer::detect(*this, instance)) {
+    if (type == RangeFinder_TYPE_MAVLink) {
+        if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_RangeFinder_CompanionComputer(*this, instance, state[instance]);
+            drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
             return;
         }
     }
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index 7e58f0af4d..44129b3729 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -48,7 +48,7 @@ public:
         RangeFinder_TYPE_LWI2C  = 7,
         RangeFinder_TYPE_LWSER  = 8,
         RangeFinder_TYPE_BEBOP  = 9,
-        RangeFinder_TYPE_CC     = 10
+        RangeFinder_TYPE_MAVLink = 10
     };
 
     enum RangeFinder_Function {
@@ -107,7 +107,7 @@ public:
     // 10Hz from main loop
     void update(void);
 
-    // Handle an incoming message (for companion computer)
+    // Handle an incoming DISTANCE_SENSOR message (from a MAVLink enabled range finder)
     void handle_msg(mavlink_message_t *msg);
 
 #define _RangeFinder_STATE(instance) state[instance]