diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 1820fc104c..af580f1f79 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -998,7 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GS1B_s log_GS1B;
 			struct log_TECS_s log_TECS;
 			struct log_WIND_s log_WIND;
-			struct log_ENCODERS_s log_ENCODERS;
+			struct log_ENCD_s log_ENCD;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1673,12 +1673,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- ENCODERS --- */
 		if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) {
-			log_msg.msg_type = LOG_ENCODERS_MSG;
-			log_msg.body.log_ENCODERS.counts_0 = buf.encoders.counts[0];
-			log_msg.body.log_ENCODERS.velocity_0 = buf.encoders.velocity[0];
-			log_msg.body.log_ENCODERS.counts_1 = buf.encoders.counts[1];
-			log_msg.body.log_ENCODERS.velocity_1 = buf.encoders.velocity[1];
-			LOGBUFFER_WRITE_AND_COUNT(ENCODERS);
+			log_msg.msg_type = LOG_ENCD_MSG;
+			log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
+			log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
+			log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1];
+			log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1];
+			LOGBUFFER_WRITE_AND_COUNT(ENCD);
 		}
 
 		/* signal the other thread new data, but not yet unlock */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 7fd07809d9..fa9bdacb80 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -408,12 +408,12 @@ struct log_VISN_s {
 };
 
 /* --- ENCODERS - ENCODER DATA --- */
-#define LOG_ENCODERS_MSG 39
-struct log_ENCODERS_s {
-	int64_t counts_0;
-	float velocity_0;
-	int64_t counts_1;
-	float velocity_1;
+#define LOG_ENCD_MSG 39
+struct log_ENCD_s {
+	int64_t cnt0;
+	float vel0;
+	int64_t cnt1;
+	float vel1;
 };
 
 
@@ -481,7 +481,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
-	LOG_FORMAT(ENCODERS, "qfqf",	"counts_0, velocity_0, counts_1, velocity_1"),
+	LOG_FORMAT(ENCD, "qfqf",	"cnt0,vel0,cnt1,vel1"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */