diff --git a/msg/position_controller_landing_status.msg b/msg/position_controller_landing_status.msg
index e98ba16350..249529b406 100644
--- a/msg/position_controller_landing_status.msg
+++ b/msg/position_controller_landing_status.msg
@@ -9,8 +9,8 @@ uint8 abort_status
 
 # abort reasons
 # after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
-uint8 kNotAborted = 0
-uint8 kAbortedByOperator = 1
-uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)
-uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)
-uint8 kUnknownAbortCriterion = 4
+uint8 NOT_ABORTED = 0
+uint8 ABORTED_BY_OPERATOR = 1
+uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
+uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
+uint8 UNKNOWN_ABORT_CRITERION = 4
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index e4ca59b300..7b14315829 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -234,7 +234,7 @@ FixedwingPositionControl::vehicle_command_poll()
 			    _pos_sp_triplet.current.valid &&
 			    (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND)) {
 
-				updateLandingAbortStatus(position_controller_landing_status_s::kAbortedByOperator);
+				updateLandingAbortStatus(position_controller_landing_status_s::ABORTED_BY_OPERATOR);
 			}
 
 		} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
@@ -613,21 +613,21 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
 	if (new_abort_status > 0 && _landing_abort_status != new_abort_status) {
 
 		switch (new_abort_status) {
-		case (position_controller_landing_status_s::kAbortedByOperator): {
+		case (position_controller_landing_status_s::ABORTED_BY_OPERATOR): {
 				mavlink_log_critical(&_mavlink_log_pub, "Landing aborted by operator\t");
 				events::send(events::ID("fixedwing_position_control_landing_abort_status_operator_abort"), events::Log::Critical,
 					     "Landing aborted by operator");
 				break;
 			}
 
-		case (position_controller_landing_status_s::kTerrainNotFound): {
+		case (position_controller_landing_status_s::TERRAIN_NOT_FOUND): {
 				mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate not found\t");
 				events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_not_found"), events::Log::Critical,
 					     "Landing aborted: terrain measurement not found");
 				break;
 			}
 
-		case (position_controller_landing_status_s::kTerrainTimeout): {
+		case (position_controller_landing_status_s::TERRAIN_TIMEOUT): {
 				mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate timed out\t");
 				events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_timeout"), events::Log::Critical,
 					     "Landing aborted: terrain estimate timed out");
@@ -642,8 +642,8 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
 		}
 	}
 
-	_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::kUnknownAbortCriterion) ?
-				position_controller_landing_status_s::kUnknownAbortCriterion : new_abort_status;
+	_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION) ?
+				position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION : new_abort_status;
 	landing_status_publish();
 }
 
@@ -1351,7 +1351,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 	if (_landing_abort_status) {
 		if (pos_sp_curr.alt - _current_altitude  < _param_fw_clmbout_diff.get()) {
 			// aborted landing complete, normal loiter over landing point
-			updateLandingAbortStatus(position_controller_landing_status_s::kNotAborted);
+			updateLandingAbortStatus(position_controller_landing_status_s::NOT_ABORTED);
 
 		} else {
 			// continue straight until vehicle has sufficient altitude
@@ -2364,7 +2364,7 @@ FixedwingPositionControl::reset_landing_state()
 	// reset abort land, unless loitering after an abort
 	if (_landing_abort_status && (_pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER)) {
 
-		updateLandingAbortStatus(position_controller_landing_status_s::kNotAborted);
+		updateLandingAbortStatus(position_controller_landing_status_s::NOT_ABORTED);
 	}
 }
 
@@ -2668,10 +2668,10 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
 
 			const bool terrain_first_measurement_timed_out = (now - _time_started_landing) > TERRAIN_ALT_FIRST_MEASUREMENT_TIMEOUT;
 			const bool abort_on_terrain_measurement_timeout = checkLandingAbortBitMask(_param_fw_lnd_abort.get(),
-					position_controller_landing_status_s::kTerrainNotFound);
+					position_controller_landing_status_s::TERRAIN_NOT_FOUND);
 
 			if (terrain_first_measurement_timed_out && abort_on_terrain_measurement_timeout) {
-				updateLandingAbortStatus(position_controller_landing_status_s::kTerrainNotFound);
+				updateLandingAbortStatus(position_controller_landing_status_s::TERRAIN_NOT_FOUND);
 			}
 
 			return land_point_altitude;
@@ -2681,10 +2681,10 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
 
 			const bool terrain_timed_out = (now - _last_time_terrain_alt_was_valid) > TERRAIN_ALT_TIMEOUT;
 			const bool abort_on_terrain_timeout = checkLandingAbortBitMask(_param_fw_lnd_abort.get(),
-							      position_controller_landing_status_s::kTerrainTimeout);
+							      position_controller_landing_status_s::TERRAIN_TIMEOUT);
 
 			if (terrain_timed_out && abort_on_terrain_timeout) {
-				updateLandingAbortStatus(position_controller_landing_status_s::kTerrainTimeout);
+				updateLandingAbortStatus(position_controller_landing_status_s::TERRAIN_TIMEOUT);
 			}
 
 			return _last_valid_terrain_alt_estimate;
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 26190ba151..b25c135692 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -338,7 +338,7 @@ private:
 	// [m] relative height above land point
 	float _landing_approach_entrance_rel_alt{0.0f};
 
-	uint8_t _landing_abort_status{position_controller_landing_status_s::kNotAborted};
+	uint8_t _landing_abort_status{position_controller_landing_status_s::NOT_ABORTED};
 
 	bool _flaring{false};
 	hrt_abstime _time_started_flaring{0}; // [us]
@@ -436,7 +436,7 @@ private:
 	 *
 	 * @param new_abort_status Either 0 (not aborted) or the singular bit >0 which triggered the abort
 	 */
-	void updateLandingAbortStatus(const uint8_t new_abort_status = position_controller_landing_status_s::kNotAborted);
+	void updateLandingAbortStatus(const uint8_t new_abort_status = position_controller_landing_status_s::NOT_ABORTED);
 
 	/**
 	 * @brief Checks if the automatic abort bitmask (from FW_LND_ABORT) contains the given abort criterion.