diff --git a/src/lib/mixer_module/functions/FunctionActuatorSet.hpp b/src/lib/mixer_module/functions/FunctionActuatorSet.hpp
index c9369addd5..a132304bf0 100644
--- a/src/lib/mixer_module/functions/FunctionActuatorSet.hpp
+++ b/src/lib/mixer_module/functions/FunctionActuatorSet.hpp
@@ -38,7 +38,7 @@
 #include <uORB/topics/vehicle_command.h>
 
 /**
- * Functions: Offboard_Actuator_Set1 ... Offboard_Actuator_Set6
+ * Functions: Peripheral_via_Actuator_Set1 ... Peripheral_via_Actuator_Set6
  */
 class FunctionActuatorSet : public FunctionProviderBase
 {
@@ -72,7 +72,7 @@ public:
 		}
 	}
 
-	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Offboard_Actuator_Set1]; }
+	float value(OutputFunction func) override { return _data[(int)func - (int)OutputFunction::Peripheral_via_Actuator_Set1]; }
 
 private:
 	static constexpr int max_num_actuators = 6;
diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index 69c9acfb60..8aea8c8cc6 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -57,7 +57,7 @@ static const FunctionProvider all_function_providers[] = {
 	{OutputFunction::Constant_Max, &FunctionConstantMax::allocate},
 	{OutputFunction::Motor1, OutputFunction::MotorMax, &FunctionMotors::allocate},
 	{OutputFunction::Servo1, OutputFunction::ServoMax, &FunctionServos::allocate},
-	{OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate},
+	{OutputFunction::Peripheral_via_Actuator_Set1, OutputFunction::Peripheral_via_Actuator_Set6, &FunctionActuatorSet::allocate},
 	{OutputFunction::Landing_Gear, &FunctionLandingGear::allocate},
 	{OutputFunction::Landing_Gear_Wheel, &FunctionLandingGearWheel::allocate},
 	{OutputFunction::Parachute, &FunctionParachute::allocate},
diff --git a/src/lib/mixer_module/output_functions.yaml b/src/lib/mixer_module/output_functions.yaml
index 1c57ed9d2a..7543ed388b 100644
--- a/src/lib/mixer_module/output_functions.yaml
+++ b/src/lib/mixer_module/output_functions.yaml
@@ -13,7 +13,7 @@ functions:
     Servo:
       start: 201
       count: 8
-    Offboard_Actuator_Set:
+    Peripheral_via_Actuator_Set:
       start: 301
       count: 6