diff --git a/Tools/simulation/gz/models/rc_cessna/model.sdf b/Tools/simulation/gz/models/rc_cessna/model.sdf
index 266689aa30..5ea036f96c 100644
--- a/Tools/simulation/gz/models/rc_cessna/model.sdf
+++ b/Tools/simulation/gz/models/rc_cessna/model.sdf
@@ -491,7 +491,7 @@
         </material>
       </visual>
     </link>
-    <joint name='px4_servo_0' type='revolute'>
+    <joint name='servo_0' type='revolute'>
       <parent>base_link</parent>
       <child>left_elevon</child>
       <pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
@@ -511,7 +511,7 @@
         </ode>
       </physics>
     </joint>
-    <joint name='px4_servo_1' type='revolute'>
+    <joint name='servo_1' type='revolute'>
       <parent>base_link</parent>
       <child>right_elevon</child>
       <pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
@@ -571,7 +571,7 @@
         </ode>
       </physics>
     </joint>
-    <joint name='px4_servo_2' type='revolute'>
+    <joint name='servo_2' type='revolute'>
       <parent>base_link</parent>
       <child>elevator</child>
       <pose> -0.5 0 0 0 0 0</pose>
@@ -678,13 +678,13 @@
       <forward>1 0 0</forward>
       <upward>0 0 1</upward>
       <link_name>base_link</link_name>
-      <control_joint_name>px4_servo_0</control_joint_name>
+      <control_joint_name>servo_0</control_joint_name>
       <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
     </plugin>
     <plugin
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>px4_servo_0</joint_name>
-      <sub_topic>px4_servo_0</sub_topic>
+      <joint_name>servo_0</joint_name>
+      <sub_topic>servo_0</sub_topic>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
@@ -701,13 +701,13 @@
       <forward>1 0 0</forward>
       <upward>0 0 1</upward>
       <link_name>base_link</link_name>
-      <control_joint_name>px4_servo_1</control_joint_name>
+      <control_joint_name>servo_1</control_joint_name>
       <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
     </plugin>
     <plugin
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>px4_servo_1</joint_name>
-      <sub_topic>px4_servo_1</sub_topic>
+      <joint_name>servo_1</joint_name>
+      <sub_topic>servo_1</sub_topic>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.05984281113</a0>
@@ -760,13 +760,13 @@
       <forward>1 0 0</forward>
       <upward>0 0 1</upward>
       <link_name>base_link</link_name>
-      <control_joint_name>px4_servo_2</control_joint_name>
+      <control_joint_name>servo_2</control_joint_name>
       <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
     </plugin>
     <plugin
       filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
-      <joint_name>px4_servo_2</joint_name>
-      <sub_topic>px4_servo_2</sub_topic>
+      <joint_name>servo_2</joint_name>
+      <sub_topic>servo_2</sub_topic>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
       <a0>0.0</a0>
diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
index 48bed53b95..9c7969b2dc 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
@@ -35,9 +35,9 @@
 
 bool GZMixingInterfaceServo::init(const std::string &model_name)
 {
-	// /model/rascal_110_0/px4_servo_2
+	// /model/rascal_110_0/servo_2
 	for (int i = 0; i < 8; i++) {
-		std::string joint_name = "px4_servo_" + std::to_string(i);
+		std::string joint_name = "servo_" + std::to_string(i);
 		std::string servo_topic = "/model/" + model_name + "/" + joint_name;
 		//std::cout << "Servo topic: " << servo_topic << std::endl;
 		_servos_pub.push_back(_node.Advertise<gz::msgs::Double>(servo_topic));