diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index f6f3995506..797b4c0105 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -185,7 +185,7 @@ protected:
 
 #include "AP_InertialSensor_Oilpan.h"
 #include "AP_InertialSensor_MPU6000.h"
-#include "AP_InertialSensor_Stub.h"
+#include "AP_InertialSensor_HIL.h"
 #include "AP_InertialSensor_PX4.h"
 #include "AP_InertialSensor_UserInteract_Stream.h"
 #include "AP_InertialSensor_UserInteract_MAVLink.h"
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
similarity index 68%
rename from libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
rename to libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
index a4063e6f2c..3738237786 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
@@ -1,16 +1,16 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#include "AP_InertialSensor_Stub.h"
+#include "AP_InertialSensor_HIL.h"
 #include <AP_HAL.h>
 const extern AP_HAL::HAL& hal;
 
-AP_InertialSensor_Stub::AP_InertialSensor_Stub() : AP_InertialSensor() {
+AP_InertialSensor_HIL::AP_InertialSensor_HIL() : AP_InertialSensor() {
         Vector3f accels;
         accels.z = -GRAVITY_MSS;
         set_accel(accels);
 }
 
-uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
+uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
     switch (sample_rate) {
     case RATE_50HZ:
         _sample_period_ms = 20;
@@ -27,25 +27,25 @@ uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
 
 /*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
 
-bool AP_InertialSensor_Stub::update( void ) {
+bool AP_InertialSensor_HIL::update( void ) {
     uint32_t now = hal.scheduler->millis();
     _delta_time_usec = (now - _last_update_ms) * 1000;
     _last_update_ms = now;
     return true;
 }
 
-float AP_InertialSensor_Stub::get_delta_time() {
+float AP_InertialSensor_HIL::get_delta_time() {
     return _delta_time_usec * 1.0e-6;
 }
-uint32_t AP_InertialSensor_Stub::get_last_sample_time_micros() {
+uint32_t AP_InertialSensor_HIL::get_last_sample_time_micros() {
     return _last_update_ms * 1000;
 }
-float AP_InertialSensor_Stub::get_gyro_drift_rate(void) {
+float AP_InertialSensor_HIL::get_gyro_drift_rate(void) {
     // 0.5 degrees/second/minute
     return ToRad(0.5/60);
 }
 
-bool AP_InertialSensor_Stub::sample_available()
+bool AP_InertialSensor_HIL::sample_available()
 {
     uint16_t ret = (hal.scheduler->millis() - _last_update_ms) 
         / _sample_period_ms;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
similarity index 89%
rename from libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
rename to libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
index 9faf1964ff..9f1f6075e4 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
@@ -6,11 +6,11 @@
 #include <AP_Progmem.h>
 #include "AP_InertialSensor.h"
 
-class AP_InertialSensor_Stub : public AP_InertialSensor
+class AP_InertialSensor_HIL : public AP_InertialSensor
 {
 public:
 
-    AP_InertialSensor_Stub();
+    AP_InertialSensor_HIL();
 
     /* Concrete implementation of AP_InertialSensor functions: */
     bool            update();