diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4ee2503..2dcde3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,9 +14,9 @@ add_message_files(
   gnss_fix.msg
   gnss_position.msg
   gnss_track.msg
-  accelerometer.msg
-  gyroscope.msg
-  magnetometer.msg
+  acceleration.msg
+  angular_velocity.msg
+  magnetic_field.msg
   temperature.msg
 )
 
diff --git a/msg/accelerometer.msg b/msg/acceleration.msg
similarity index 100%
rename from msg/accelerometer.msg
rename to msg/acceleration.msg
diff --git a/msg/gyroscope.msg b/msg/angular_velocity.msg
similarity index 100%
rename from msg/gyroscope.msg
rename to msg/angular_velocity.msg
diff --git a/msg/magnetometer.msg b/msg/magnetic_field.msg
similarity index 100%
rename from msg/magnetometer.msg
rename to msg/magnetic_field.msg