diff --git a/CMakeLists.txt b/CMakeLists.txt
index 098d56c..9a7e401 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,8 +14,8 @@ add_message_files(
   gnss_fix.msg
   gnss_position.msg
   gnss_track.msg
-  acceleration.msg
-  angular_velocity.msg
+  accelerometer.msg
+  gyroscope.msg
   magnetic_field.msg
   temperature.msg
   covariance.msg
diff --git a/msg/acceleration.msg b/msg/accelerometer.msg
similarity index 75%
rename from msg/acceleration.msg
rename to msg/accelerometer.msg
index 0463f97..6eee86c 100644
--- a/msg/acceleration.msg
+++ b/msg/accelerometer.msg
@@ -1,4 +1,4 @@
-# A 3D measurement of linear acceleration.
+# A 3D measurement of linear acceleration from an 3-axis accelerometer.
 
 float64 x           # The linear acceleration in the X direction [m/s^2]
 float64 y           # The linear acceleration in the Y direction [m/s^2]
diff --git a/msg/angular_velocity.msg b/msg/gyroscope.msg
similarity index 100%
rename from msg/angular_velocity.msg
rename to msg/gyroscope.msg