diff --git a/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h b/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
index d321f0c15e26ed102496c2da8548b1a87d47b323..128707df272bcdda304895018fa35f71c28b5cea 100644
--- a/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
+++ b/old_examples/shared/sensors/LSM6DS3H/LSM6DS3HData.h
@@ -35,8 +35,8 @@ struct LSM6DS3HData
 
     static std::string header()
     {
-        return "timestamp,acc_x,acc_y,acc_z,angularVelocityX,angularVelocityY,"
-               "angularVelocityZ\n";
+        return "timestamp,acc_x,acc_y,acc_z,angularSpeedX,angularSpeedY,"
+               "angularSpeedZ\n";
     }
 
     void print(std::ostream& os) const
diff --git a/src/entrypoints/bmx160-calibration-entry.cpp b/src/entrypoints/bmx160-calibration-entry.cpp
index 07f5f0b323369418582b7a5a49374f04195fa5f3..40e57dc55447ef5165bfebdb252643d6c366125d 100644
--- a/src/entrypoints/bmx160-calibration-entry.cpp
+++ b/src/entrypoints/bmx160-calibration-entry.cpp
@@ -417,9 +417,8 @@ void calibrateGyroscope()
                 auto data = fifo.at(i);
                 Logger::getInstance().log(data);
 
-                calibrationModel.feed({data.angularVelocityX,
-                                       data.angularVelocityY,
-                                       data.angularVelocityZ});
+                calibrationModel.feed({data.angularSpeedX, data.angularSpeedY,
+                                       data.angularSpeedZ});
                 count++;
             }
         },
diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 5f745b7951ff63c6383fb20ce8268d97f04f2455..d84b39d311d8fa80e2892d47f71b07cf983a5c22 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -127,12 +127,12 @@ void NAS::predictAcc(const AccelerometerData& acceleration)
                         acceleration.accelerationZ});
 }
 
-void NAS::predictGyro(const Vector3f& angularVelocity)
+void NAS::predictGyro(const Vector3f& angularSpeed)
 {
     Vector3f bias = x.block<3, 1>(IDX_BIAS, 0);
     Vector4f q    = x.block<4, 1>(IDX_QUAT, 0);
 
-    Vector3f omega = angularVelocity - bias;
+    Vector3f omega = angularSpeed - bias;
     // clang-format off
     Matrix4f omega_mat{
         { 0.0f,      omega(2), -omega(1), omega(0)},
@@ -156,11 +156,10 @@ void NAS::predictGyro(const Vector3f& angularVelocity)
     P.block<6, 6>(IDX_QUAT, IDX_QUAT) = Pq;
 }
 
-void NAS::predictGyro(const GyroscopeData& angularVelocity)
+void NAS::predictGyro(const GyroscopeData& angularSpeed)
 {
-    predictGyro(Vector3f{angularVelocity.angularVelocityX,
-                         angularVelocity.angularVelocityY,
-                         angularVelocity.angularVelocityZ});
+    predictGyro(Vector3f{angularSpeed.angularSpeedX, angularSpeed.angularSpeedY,
+                         angularSpeed.angularSpeedZ});
 }
 
 void NAS::correctBaro(const float pressure)
diff --git a/src/shared/algorithms/NAS/NAS.h b/src/shared/algorithms/NAS/NAS.h
index a5f7d0d1a3a9e324970a1730732a5c02e0c56c71..a200c215b76adc4f4c65b969900bf097f4b5f973 100644
--- a/src/shared/algorithms/NAS/NAS.h
+++ b/src/shared/algorithms/NAS/NAS.h
@@ -69,16 +69,16 @@ public:
     /**
      * @brief Prediction with gyroscope data.
      *
-     * @param angularVelocity Vector with angular velocity data [x y z][rad/s].
+     * @param angularSpeed Vector with angular velocity data [x y z][rad/s].
      */
-    void predictGyro(const Eigen::Vector3f& angularVelocity);
+    void predictGyro(const Eigen::Vector3f& angularSpeed);
 
     /**
      * @brief Prediction with gyroscope data.
      *
-     * @param angularVelocity Gyroscope data [rad/s].
+     * @param angularSpeed Gyroscope data [rad/s].
      */
-    void predictGyro(const GyroscopeData& angularVelocity);
+    void predictGyro(const GyroscopeData& angularSpeed);
 
     /**
      * @brief Correction with barometer data.
diff --git a/src/shared/sensors/BMX160/BMX160.cpp b/src/shared/sensors/BMX160/BMX160.cpp
index 2a40cdcafc9723ba44fa0e09455f5e2b9c3b0a54..41aea4459273f7d6200de8d8084f39011e9d48b9 100644
--- a/src/shared/sensors/BMX160/BMX160.cpp
+++ b/src/shared/sensors/BMX160/BMX160.cpp
@@ -31,19 +31,19 @@ namespace Boardcore
 BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config)
     : BMX160(bus, cs, config, SPIBusConfig{})
 {
-    spiSlave.config.clockDivider    = SPI::ClockDivider::DIV_32;
-    oldMag.magneticFieldTimestamp   = 0.0f;
-    oldGyr.angularVelocityTimestamp = 0.0f;
-    oldAcc.accelerationTimestamp    = 0.0f;
+    spiSlave.config.clockDivider  = SPI::ClockDivider::DIV_32;
+    oldMag.magneticFieldTimestamp = 0.0f;
+    oldGyr.angularSpeedTimestamp  = 0.0f;
+    oldAcc.accelerationTimestamp  = 0.0f;
 }
 
 BMX160::BMX160(SPIBusInterface& bus, miosix::GpioPin cs, BMX160Config config,
                SPIBusConfig bus_config)
     : spiSlave(bus, cs, bus_config), config(config)
 {
-    oldMag.magneticFieldTimestamp   = 0.0f;
-    oldGyr.angularVelocityTimestamp = 0.0f;
-    oldAcc.accelerationTimestamp    = 0.0f;
+    oldMag.magneticFieldTimestamp = 0.0f;
+    oldGyr.angularSpeedTimestamp  = 0.0f;
+    oldAcc.accelerationTimestamp  = 0.0f;
 }
 
 bool BMX160::init()
@@ -732,8 +732,8 @@ void BMX160::readFifo(bool headerless)
     // current frame.
     if (oldMag.magneticFieldTimestamp != 0)
         oldMag.magneticFieldTimestamp -= interruptTimestampDelta;
-    if (oldGyr.angularVelocityTimestamp != 0)
-        oldGyr.angularVelocityTimestamp -= interruptTimestampDelta;
+    if (oldGyr.angularSpeedTimestamp != 0)
+        oldGyr.angularSpeedTimestamp -= interruptTimestampDelta;
     if (oldAcc.accelerationTimestamp != 0)
         oldAcc.accelerationTimestamp -= interruptTimestampDelta;
 
@@ -865,7 +865,7 @@ void BMX160::readFifo(bool headerless)
     {
         lastFifo[i].accelerationTimestamp +=
             lastInterruptTimestamp - watermarkTimestamp;
-        lastFifo[i].angularVelocityTimestamp +=
+        lastFifo[i].angularSpeedTimestamp +=
             lastInterruptTimestamp - watermarkTimestamp;
         lastFifo[i].magneticFieldTimestamp +=
             lastInterruptTimestamp - watermarkTimestamp;
diff --git a/src/shared/sensors/BMX160/BMX160Data.h b/src/shared/sensors/BMX160/BMX160Data.h
index 5347ad81cdd5cbbded71cbdea25b7033c350f333..bc2c3316050a8b4c4f075f7da79e4358dd04f648 100644
--- a/src/shared/sensors/BMX160/BMX160Data.h
+++ b/src/shared/sensors/BMX160/BMX160Data.h
@@ -45,8 +45,8 @@ struct BMX160Data : public AccelerometerData,
     static std::string header()
     {
         return "accelerationTimestamp,accelerationX,accelerationY,"
-               "accelerationZ,angularVelocityTimestamp,angularVelocityX,"
-               "angularVelocityY,angularVelocityZ,magneticFieldTimestamp,"
+               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+               "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
                "magneticFieldX,magneticFieldY,magneticFieldZ\n";
     }
 
@@ -54,8 +54,8 @@ struct BMX160Data : public AccelerometerData,
     {
         os << accelerationTimestamp << "," << accelerationX << ","
            << accelerationY << "," << accelerationZ << ","
-           << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << "\n";
     }
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
index 5246aa3b21ac990ce8419d66de9bb648deb53791..ba68500bb4214faab3e5f48e8323bc92310a629b 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
+++ b/src/shared/sensors/BMX160/BMX160WithCorrection.cpp
@@ -117,7 +117,7 @@ BMX160WithCorrectionData BMX160WithCorrection::sampleImpl()
     static_cast<AccelerometerData&>(result) << avgAccel;
     result.magneticFieldTimestamp = fifoElement.accelerationTimestamp;
     static_cast<MagnetometerData&>(result) << avgMag;
-    result.angularVelocityTimestamp = fifoElement.accelerationTimestamp;
+    result.angularSpeedTimestamp = fifoElement.accelerationTimestamp;
     static_cast<GyroscopeData&>(result) << (avgGyro - gyroscopeBias);
 
     if (calibrating)
diff --git a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
index 65a737f5a3bc2b7bae7be63b808cf279318666eb..c3e22c0948bd80a888934fd8462e375da69b1806 100644
--- a/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
+++ b/src/shared/sensors/BMX160/BMX160WithCorrectionData.h
@@ -52,9 +52,9 @@ struct BMX160WithCorrectionData : public BMX160Data
 
     BMX160WithCorrectionData& operator=(GyroscopeData gyr)
     {
-        angularVelocityX = gyr.angularVelocityX;
-        angularVelocityY = gyr.angularVelocityY;
-        angularVelocityZ = gyr.angularVelocityZ;
+        angularSpeedX = gyr.angularSpeedX;
+        angularSpeedY = gyr.angularSpeedY;
+        angularSpeedZ = gyr.angularSpeedZ;
         return *this;
     }
 
@@ -69,21 +69,17 @@ struct BMX160WithCorrectionData : public BMX160Data
     static std::string header()
     {
         return "accelerationTimestamp,accelerationX,accelerationY,"
-               "accelerationZ,gyro_"
-               "timestamp,"
-               "angularVelocityX,"
-               "angularVelocityY,"
-               "angularVelocityZ,magneticFieldTimestamp,magneticFieldX,"
-               "magneticFieldY,"
-               "magneticFieldZ\n";
+               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+               "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
+               "magneticFieldX,magneticFieldY,magneticFieldZ\n";
     }
 
     void print(std::ostream& os) const
     {
         os << accelerationTimestamp << "," << accelerationX << ","
            << accelerationY << "," << accelerationZ << ","
-           << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << "\n";
     }
diff --git a/src/shared/sensors/L3GD20/L3GD20Data.h b/src/shared/sensors/L3GD20/L3GD20Data.h
index fa8e08955a40624372553f3d614b3cb3ec408353..e46833302b5e8c5c4898cc579f7b51e6f693fc9b 100644
--- a/src/shared/sensors/L3GD20/L3GD20Data.h
+++ b/src/shared/sensors/L3GD20/L3GD20Data.h
@@ -41,14 +41,14 @@ struct L3GD20Data : public GyroscopeData
 
     static std::string header()
     {
-        return "angularVelocityTimestamp,angularVelocityX,angularVelocityY,"
-               "angularVelocityZ\n";
+        return "angularSpeedTimestamp,angularSpeedX,angularSpeedY,"
+               "angularSpeedZ\n";
     }
 
     void print(std::ostream& os) const
     {
-        os << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << "\n";
+        os << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << "\n";
     }
 };
 
diff --git a/src/shared/sensors/MPU9250/MPU9250.cpp b/src/shared/sensors/MPU9250/MPU9250.cpp
index 23c98cd7c85fd11d1fe8eb5507c8a13a076ec4ba..512bbbea3926c7e7b91e9a04d7a85c08da2c2ed8 100644
--- a/src/shared/sensors/MPU9250/MPU9250.cpp
+++ b/src/shared/sensors/MPU9250/MPU9250.cpp
@@ -111,11 +111,11 @@ MPU9250Data MPU9250::sampleImpl()
     }
 
     // Save timestamps
-    uint64_t timestamp            = TimestampTimer::getTimestamp();
-    data.accelerationTimestamp    = timestamp;
-    data.temperatureTimestamp     = timestamp;
-    data.angularVelocityTimestamp = timestamp;
-    data.magneticFieldTimestamp   = timestamp;
+    uint64_t timestamp          = TimestampTimer::getTimestamp();
+    data.accelerationTimestamp  = timestamp;
+    data.temperatureTimestamp   = timestamp;
+    data.angularSpeedTimestamp  = timestamp;
+    data.magneticFieldTimestamp = timestamp;
 
     // Save data
     data.accelerationX =
@@ -124,10 +124,10 @@ MPU9250Data MPU9250::sampleImpl()
         normalizeAcceleration(swapBytes16(rawData.bits.accelY));
     data.accelerationZ =
         normalizeAcceleration(swapBytes16(rawData.bits.accelZ));
-    data.temperature = normalizeTemperature(swapBytes16(rawData.bits.temp));
-    data.angularVelocityX = normalizeGyroscope(swapBytes16(rawData.bits.gyroX));
-    data.angularVelocityY = normalizeGyroscope(swapBytes16(rawData.bits.gyroY));
-    data.angularVelocityZ = normalizeGyroscope(swapBytes16(rawData.bits.gyroZ));
+    data.temperature   = normalizeTemperature(swapBytes16(rawData.bits.temp));
+    data.angularSpeedX = normalizeGyroscope(swapBytes16(rawData.bits.gyroX));
+    data.angularSpeedY = normalizeGyroscope(swapBytes16(rawData.bits.gyroY));
+    data.angularSpeedZ = normalizeGyroscope(swapBytes16(rawData.bits.gyroZ));
     data.magneticFieldX =
         normalizeMagnetometer(rawData.bits.magX, magSensAdjCoeff[0]);
     data.magneticFieldY =
diff --git a/src/shared/sensors/MPU9250/MPU9250Data.h b/src/shared/sensors/MPU9250/MPU9250Data.h
index 2f7837b93064d844c94204071a29f815f58487ae..45e314b335db47ce7698a299102d6ffbd4f746f2 100644
--- a/src/shared/sensors/MPU9250/MPU9250Data.h
+++ b/src/shared/sensors/MPU9250/MPU9250Data.h
@@ -43,8 +43,8 @@ struct MPU9250Data : public AccelerometerData,
         return "accelerationTimestamp,accelerationX,accelerationY,"
                "accelerationZ,gyro_"
                "timestamp,"
-               "angularVelocityX,"
-               "angularVelocityY,angularVelocityZ,magneticFieldTimestamp,"
+               "angularSpeedX,"
+               "angularSpeedY,angularSpeedZ,magneticFieldTimestamp,"
                "magneticFieldX,"
                "magneticFieldY,"
                "magneticFieldZ,"
@@ -56,8 +56,8 @@ struct MPU9250Data : public AccelerometerData,
     {
         os << accelerationTimestamp << "," << accelerationX << ","
            << accelerationY << "," << accelerationZ << ","
-           << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << ","
            << magneticFieldTimestamp << "," << magneticFieldX << ","
            << magneticFieldY << "," << magneticFieldZ << ","
            << temperatureTimestamp << "," << temperature << "\n";
diff --git a/src/shared/sensors/SensorData.h b/src/shared/sensors/SensorData.h
index 8c79d8be71661cdc5ed5dd6d1bf469b3c1fdef3e..002ca80a728277c8a20c6b5375e029b68a71357a 100644
--- a/src/shared/sensors/SensorData.h
+++ b/src/shared/sensors/SensorData.h
@@ -150,41 +150,40 @@ struct AccelerometerData
  */
 struct GyroscopeData
 {
-    uint64_t angularVelocityTimestamp = 0;
-    float angularVelocityX            = 0;
-    float angularVelocityY            = 0;
-    float angularVelocityZ            = 0;
+    uint64_t angularSpeedTimestamp = 0;
+    float angularSpeedX            = 0;
+    float angularSpeedY            = 0;
+    float angularSpeedZ            = 0;
 
     GyroscopeData() {}
 
     GyroscopeData(uint64_t timestamp, float x, float y, float z)
-        : angularVelocityTimestamp(timestamp), angularVelocityX(x),
-          angularVelocityY(y), angularVelocityZ(z)
+        : angularSpeedTimestamp(timestamp), angularSpeedX(x), angularSpeedY(y),
+          angularSpeedZ(z)
     {
     }
 
     GyroscopeData(const GyroscopeData& data) = default;
 
     explicit GyroscopeData(const Eigen::Vector3f& vel)
-        : angularVelocityX(vel(0)), angularVelocityY(vel(1)),
-          angularVelocityZ(vel(2))
+        : angularSpeedX(vel(0)), angularSpeedY(vel(1)), angularSpeedZ(vel(2))
     {
     }
 
     static std::string header()
     {
-        return "timestamp,angularVelocityX,angularVelocityY,angularVelocityZ\n";
+        return "timestamp,angularSpeedX,angularSpeedY,angularSpeedZ\n";
     }
 
     void print(std::ostream& os) const
     {
-        os << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << "\n";
+        os << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << "\n";
     }
 
     operator Eigen::Vector3f() const
     {
-        return {angularVelocityX, angularVelocityY, angularVelocityZ};
+        return {angularSpeedX, angularSpeedY, angularSpeedZ};
     }
 };
 
diff --git a/src/shared/sensors/VN100/VN100.cpp b/src/shared/sensors/VN100/VN100.cpp
index 5ee4019dc91cd208212c2462c7ca782e8eef7204..826d51f855f7289affd4eb67b784aed5b4fb99c8 100644
--- a/src/shared/sensors/VN100/VN100.cpp
+++ b/src/shared/sensors/VN100/VN100.cpp
@@ -578,10 +578,10 @@ GyroscopeData VN100::sampleGyroscope()
     }
 
     // Parse the data
-    data.angularVelocityTimestamp = TimestampTimer::getTimestamp();
-    data.angularVelocityX = strtod(recvString + indexStart + 1, &nextNumber);
-    data.angularVelocityY = strtod(nextNumber + 1, &nextNumber);
-    data.angularVelocityZ = strtod(nextNumber + 1, NULL);
+    data.angularSpeedTimestamp = TimestampTimer::getTimestamp();
+    data.angularSpeedX = strtod(recvString + indexStart + 1, &nextNumber);
+    data.angularSpeedY = strtod(nextNumber + 1, &nextNumber);
+    data.angularSpeedZ = strtod(nextNumber + 1, NULL);
 
     return data;
 }
diff --git a/src/shared/sensors/VN100/VN100Data.h b/src/shared/sensors/VN100/VN100Data.h
index 210a3b82d77b5788afeb00a808a345c7dc1f6fad..319a7621b28c87a718256ab9ff99cda43d143eda 100644
--- a/src/shared/sensors/VN100/VN100Data.h
+++ b/src/shared/sensors/VN100/VN100Data.h
@@ -83,9 +83,9 @@ struct VN100Data : public QuaternionData,
         return "quatTimestamp,quatX,quatY,quatZ,quatW,magneticFieldTimestamp,"
                "magneticFieldX,magneticFieldY,magneticFieldZ,"
                "accelerationTimestamp,accelerationX,accelerationY,"
-               "accelerationZ,gyro_timestamp,angularVelocityX,angularVelocityY,"
-               "angularVelocityZ,temperatureTimestamp,temperature,"
-               "pressureTimestamp,pressure\n";
+               "accelerationZ,angularSpeedTimestamp,angularSpeedX,"
+               "angularSpeedY,angularSpeedZ,temperatureTimestamp,"
+               "temperature,pressureTimestamp,pressure\n";
     }
 
     void print(std::ostream& os) const
@@ -95,8 +95,8 @@ struct VN100Data : public QuaternionData,
            << magneticFieldX << "," << magneticFieldY << "," << magneticFieldZ
            << "," << accelerationTimestamp << "," << accelerationX << ","
            << accelerationY << "," << accelerationZ << ","
-           << angularVelocityTimestamp << "," << angularVelocityX << ","
-           << angularVelocityY << "," << angularVelocityZ << ","
+           << angularSpeedTimestamp << "," << angularSpeedX << ","
+           << angularSpeedY << "," << angularSpeedZ << ","
            << temperatureTimestamp << "," << temperature << ","
            << pressureTimestamp << "," << pressure << "\n";
     }
diff --git a/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp b/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
index ed69028b1d522410bb381d021002bcd39bc0739c..faaf8caea076a9f861b50c2e57880595c9d379a1 100644
--- a/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
+++ b/src/shared/sensors/calibration/SensorDataExtra/SensorDataExtra.cpp
@@ -43,16 +43,16 @@ void operator<<(Eigen::Vector3f& lhs, const AccelerometerData& rhs)
 
 void operator<<(GyroscopeData& lhs, const Vector3f& rhs)
 {
-    lhs.angularVelocityX = rhs[0];
-    lhs.angularVelocityY = rhs[1];
-    lhs.angularVelocityZ = rhs[2];
+    lhs.angularSpeedX = rhs[0];
+    lhs.angularSpeedY = rhs[1];
+    lhs.angularSpeedZ = rhs[2];
 }
 
 void operator<<(Eigen::Vector3f& lhs, const GyroscopeData& rhs)
 {
-    lhs[0] = rhs.angularVelocityX;
-    lhs[1] = rhs.angularVelocityY;
-    lhs[2] = rhs.angularVelocityZ;
+    lhs[0] = rhs.angularSpeedX;
+    lhs[1] = rhs.angularSpeedY;
+    lhs[2] = rhs.angularSpeedZ;
 }
 
 void operator<<(MagnetometerData& lhs, const Vector3f& rhs)
diff --git a/src/tests/algorithms/NAS/test-attitude-parafoil.cpp b/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
index 2fc066cbeff7d240bd7ce46a20f5658d57696783..3af6f6222da312a1521abc54ccce120e1e205236 100644
--- a/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-attitude-parafoil.cpp
@@ -111,8 +111,8 @@ void imuStep()
     auto data = imu->getLastSample();
     Vector3f acceleration(data.accelerationX, data.accelerationY,
                           data.accelerationZ);
-    Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
-                             data.angularVelocityZ);
+    Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+                          data.angularSpeedZ);
     Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
                            data.magneticFieldZ);
 
@@ -120,7 +120,7 @@ void imuStep()
     {
         Vector3f bias(0.0218462708018154, 0.0281755574886535,
                       0.0264119470499244);
-        angularVelocity -= bias;
+        angularSpeed -= bias;
         Vector3f offset(15.9850903462129, -15.6775071377074, -33.8438469147423);
         magneticField -= offset;
         magneticField = {magneticField[1], magneticField[0], -magneticField[2]};
@@ -130,7 +130,7 @@ void imuStep()
     magneticField.normalize();
 
     // Predict step
-    nas->predictGyro(angularVelocity);
+    nas->predictGyro(angularSpeed);
 
     // Correct step
     nas->correctMag(magneticField);
diff --git a/src/tests/algorithms/NAS/test-attitude-stack.cpp b/src/tests/algorithms/NAS/test-attitude-stack.cpp
index 58fa874f554f9ba3e32a71e42de1f377067fd665..00d0145f7737a20a708c2a65fb5d725ce292d214 100644
--- a/src/tests/algorithms/NAS/test-attitude-stack.cpp
+++ b/src/tests/algorithms/NAS/test-attitude-stack.cpp
@@ -132,16 +132,16 @@ void imuStep()
     auto data = imu->getLastSample();
     Vector3f acceleration(data.accelerationX, data.accelerationY,
                           data.accelerationZ);
-    Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
-                             data.angularVelocityZ);
+    Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+                          data.angularSpeedZ);
     Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
                            data.magneticFieldZ);
 
     // Calibration
     {
         Vector3f offset{-1.63512255486542, 3.46523431469979, -3.08516033954451};
-        angularVelocity = angularVelocity - offset;
-        angularVelocity = angularVelocity / 180 * Constants::PI / 10;
+        angularSpeed = angularSpeed - offset;
+        angularSpeed = angularSpeed / 180 * Constants::PI / 10;
         Vector3f b{21.5356818859811, -22.7697302909894, -2.68219304319269};
         Matrix3f A{{0.688760050772712, 0, 0},
                    {0, 0.637715211784480, 0},
@@ -153,13 +153,13 @@ void imuStep()
     magneticField.normalize();
 
     // Predict step
-    nas->predictGyro(angularVelocity);
+    nas->predictGyro(angularSpeed);
 
     // Correct step
     nas->correctMag(magneticField);
     nas->correctAcc(acceleration);
 
-    // std::cout << acceleration.transpose() << angularVelocity.transpose()
+    // std::cout << acceleration.transpose() << angularSpeed.transpose()
     //           << magneticField.transpose() << std::endl;
 
     auto nasState = nas->getState();
diff --git a/src/tests/algorithms/NAS/test-nas-parafoil.cpp b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
index be943b057a3b42f05f941ffdc49fd69de9379a9b..7af7e41c3861b95483cd136018fe2977216046e1 100644
--- a/src/tests/algorithms/NAS/test-nas-parafoil.cpp
+++ b/src/tests/algorithms/NAS/test-nas-parafoil.cpp
@@ -129,8 +129,8 @@ void step()
 
     Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
                           imuData.accelerationZ);
-    Vector3f angularVelocity(imuData.angularVelocityX, imuData.angularVelocityY,
-                             imuData.angularVelocityZ);
+    Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+                          imuData.angularSpeedZ);
     Vector3f magneticField(imuData.magneticFieldX, imuData.magneticFieldY,
                            imuData.magneticFieldZ);
 
@@ -146,14 +146,14 @@ void step()
         Vector3f biasAcc(-0.1255, 0.2053, -0.2073);
         acceleration -= biasAcc;
         Vector3f bias(-0.0291, 0.0149, 0.0202);
-        angularVelocity -= bias;
+        angularSpeed -= bias;
         Vector3f offset(15.9850903462129, -15.6775071377074, -33.8438469147423);
         magneticField -= offset;
         magneticField = {magneticField[1], magneticField[0], -magneticField[2]};
     }
 
     // Predict step
-    nas->predictGyro(angularVelocity);
+    nas->predictGyro(angularSpeed);
     if (gpsPos[0] < 1e3 && gpsPos[0] > -1e3 && gpsPos[1] < 1e3 &&
         gpsPos[1] > -1e3)
         nas->predictAcc(acceleration);
diff --git a/src/tests/algorithms/NAS/test-nas-with-triad.cpp b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
index a940738f664fb4c26d0de48e89f5349d30a4691d..fb5c1c20fd2f5c984e14d16fc3c749fbe0b2c426 100644
--- a/src/tests/algorithms/NAS/test-nas-with-triad.cpp
+++ b/src/tests/algorithms/NAS/test-nas-with-triad.cpp
@@ -128,8 +128,8 @@ void bmxCallback()
     auto data = bmx160->getLastSample();
     Vector3f acceleration(data.accelerationX, data.accelerationY,
                           data.accelerationZ);
-    Vector3f angularVelocity(data.angularVelocityX, data.angularVelocityY,
-                             data.angularVelocityZ);
+    Vector3f angularSpeed(data.angularSpeedX, data.angularSpeedY,
+                          data.angularSpeedZ);
     Vector3f magneticField(data.magneticFieldX, data.magneticFieldY,
                            data.magneticFieldZ);
 
@@ -137,8 +137,8 @@ void bmxCallback()
     Vector3f acc_b(0.3763 + 0.094, -0.1445 - 0.0229, -0.1010 + 0.0150);
     acceleration -= acc_b;
     Vector3f gyro_b{-1.63512255486542, 3.46523431469979, -3.08516033954451};
-    angularVelocity = angularVelocity - gyro_b;
-    angularVelocity = angularVelocity / 180 * Constants::PI / 10;
+    angularSpeed = angularSpeed - gyro_b;
+    angularSpeed = angularSpeed / 180 * Constants::PI / 10;
     Vector3f mag_b{21.0730033648425, -24.3997259703105, -2.32621524742862};
     Matrix3f A{{0.659926504672263, 0, 0},
                {0, 0.662442130094073, 0},
@@ -182,11 +182,11 @@ void bmxCallback()
         // Predict step
         {
             // nas->predictAcc(acceleration);
-            nas->predictGyro(angularVelocity);
+            nas->predictGyro(angularSpeed);
 
-            data.angularVelocityX = angularVelocity[0];
-            data.angularVelocityY = angularVelocity[1];
-            data.angularVelocityZ = angularVelocity[2];
+            data.angularSpeedX = angularSpeed[0];
+            data.angularSpeedY = angularSpeed[1];
+            data.angularSpeedZ = angularSpeed[2];
         }
 
         // Correct step
@@ -201,10 +201,10 @@ void bmxCallback()
 
         auto nasState = nas->getState();
 
-        nasState.timestamp            = TimestampTimer::getTimestamp();
-        data.accelerationTimestamp    = nasState.timestamp;
-        data.magneticFieldTimestamp   = nasState.timestamp;
-        data.angularVelocityTimestamp = nasState.timestamp;
+        nasState.timestamp          = TimestampTimer::getTimestamp();
+        data.accelerationTimestamp  = nasState.timestamp;
+        data.magneticFieldTimestamp = nasState.timestamp;
+        data.angularSpeedTimestamp  = nasState.timestamp;
 
         // Logger::getInstance().log(nasState);
         // Logger::getInstance().log(data);
diff --git a/src/tests/algorithms/NAS/test-nas.cpp b/src/tests/algorithms/NAS/test-nas.cpp
index 306026834aa99703c6165479b18da30af64d8e9a..c62f60ffcca4cee4d86c86551254a606174f8321 100644
--- a/src/tests/algorithms/NAS/test-nas.cpp
+++ b/src/tests/algorithms/NAS/test-nas.cpp
@@ -151,14 +151,14 @@ void step()
 
     Vector3f acceleration(imuData.accelerationX, imuData.accelerationY,
                           imuData.accelerationZ);
-    Vector3f angularVelocity(imuData.angularVelocityX, imuData.angularVelocityY,
-                             imuData.angularVelocityZ);
+    Vector3f angularSpeed(imuData.angularSpeedX, imuData.angularSpeedY,
+                          imuData.angularSpeedZ);
     Vector3f magneticField(imuData.magneticFieldX, imuData.magneticFieldY,
                            imuData.magneticFieldZ);
 
     // Calibration
     {
-        angularVelocity -= Vector3f{-0.00863, 0.00337, 0.01284};
+        angularSpeed -= Vector3f{-0.00863, 0.00337, 0.01284};
 
         Matrix3f A{{0.66306, 0, 0}, {0, 0.66940, 0}, {0, 0, 2.25299}};
         Vector3f b{40.70668, -17.83740, -13.52012};
@@ -187,7 +187,7 @@ void step()
     }
 
     // Predict step
-    nas->predictGyro(angularVelocity);
+    nas->predictGyro(angularSpeed);
     nas->predictAcc(acceleration);
 
     // Correct step
diff --git a/src/tests/sensors/test-bmx160-with-correction.cpp b/src/tests/sensors/test-bmx160-with-correction.cpp
index 015df9635abbe10ed6ea6ceb976dc02c0175952b..db14f2c9679bb72a0dad6953101cfc8d2b80984f 100644
--- a/src/tests/sensors/test-bmx160-with-correction.cpp
+++ b/src/tests/sensors/test-bmx160-with-correction.cpp
@@ -302,8 +302,8 @@ SixParametersCorrector calibrateGyroscope(SixParametersCorrector corr)
                 auto data = fifo.at(i);
                 Logger::getInstance().log(data);
 
-                Vector3f gyro = {data.angularVelocityX, data.angularVelocityY,
-                                 data.angularVelocityZ};
+                Vector3f gyro = {data.angularSpeedX, data.angularSpeedY,
+                                 data.angularSpeedZ};
 
                 avgGyro = (avgGyro * count + gyro) / (count + 1);
                 count++;
diff --git a/src/tests/sensors/test-bmx160.cpp b/src/tests/sensors/test-bmx160.cpp
index 36e04b7046e9a0b9384fc4a3d36cfb10cf5d9fd1..27f3f332fcc8b599cb5ae542a89c644f5ee6845d 100644
--- a/src/tests/sensors/test-bmx160.cpp
+++ b/src/tests/sensors/test-bmx160.cpp
@@ -114,9 +114,8 @@ int main()
                    data.magneticFieldZ);
 
             printf("Gyr [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
-                   data.angularVelocityTimestamp / 1000000.0f,
-                   data.angularVelocityX, data.angularVelocityY,
-                   data.angularVelocityZ);
+                   data.angularSpeedTimestamp / 1000000.0f, data.angularSpeedX,
+                   data.angularSpeedY, data.angularSpeedZ);
 
             printf("Acc [%.4f s]:\t%.2f\t%.2f\t%.2f\n",
                    data.accelerationTimestamp / 1000000.0f, data.accelerationX,
diff --git a/src/tests/sensors/test-l3gd20-fifo.cpp b/src/tests/sensors/test-l3gd20-fifo.cpp
index 24e2c4d3a723adef7581539f2e6fe8e2ae4160b9..faa927dbb0f1cbd1b7791821286eb5f06fa0a2e0 100644
--- a/src/tests/sensors/test-l3gd20-fifo.cpp
+++ b/src/tests/sensors/test-l3gd20-fifo.cpp
@@ -219,13 +219,13 @@ int main()
         // clang-format off
         printf("%d,%llu,%llu,%llu,%llu,%f,%f,%f,%.2f\n",
                 data[i].fifoNum,
-                data[i].gyro.angularVelocityTimestamp,
+                data[i].gyro.angularSpeedTimestamp,
                 data[i].wtmDelta,
                 data[i].update,
-                (data[i].gyro.angularVelocityTimestamp - data[i - 1].gyro.angularVelocityTimestamp),
-                data[i].gyro.angularVelocityX,
-                data[i].gyro.angularVelocityY,
-                data[i].gyro.angularVelocityZ,
+                (data[i].gyro.angularSpeedTimestamp - data[i - 1].gyro.angularSpeedTimestamp),
+                data[i].gyro.angularSpeedX,
+                data[i].gyro.angularSpeedY,
+                data[i].gyro.angularSpeedZ,
                 data[i].cpu);
         // clang-format on
     }
diff --git a/src/tests/sensors/test-l3gd20.cpp b/src/tests/sensors/test-l3gd20.cpp
index 33d4134e2bafa831286fdcc00b63d9005d17afd7..1ce300bf7a435490c3afc4ecb11e284d40d2bbf3 100644
--- a/src/tests/sensors/test-l3gd20.cpp
+++ b/src/tests/sensors/test-l3gd20.cpp
@@ -147,7 +147,7 @@ int main()
         L3GD20Data d = gyro->getLastSample();
 
         // Store the sample in the array, togheter with other useful data
-        data[dataCounter++] = {d.angularVelocityTimestamp, sampleDelta, d,
+        data[dataCounter++] = {d.angularSpeedTimestamp, sampleDelta, d,
                                CpuMeter::getCpuStats().mean};
 
         // Wait until SAMPLE_PERIOD milliseconds from the start of this
@@ -166,9 +166,9 @@ int main()
                 TimerUtils::toIntMicroSeconds(
                     TimestampTimer::timestampTimer.getTimer(), data[i].sampleDelta),
                 (data[i].timestamp - data[i - 1].timestamp),
-                data[i].data.angularVelocityX,
-                data[i].data.angularVelocityY,
-                data[i].data.angularVelocityZ,
+                data[i].data.angularSpeedX,
+                data[i].data.angularSpeedY,
+                data[i].data.angularSpeedZ,
                 data[i].cpu);
         // clang-format on
     }
diff --git a/src/tests/sensors/test-mpu9250.cpp b/src/tests/sensors/test-mpu9250.cpp
index 03e798fa2ac28a1d7c23b334f8c715b67d2db0ae..4a334572ed929b3033c281706db7b99a6649cc3d 100644
--- a/src/tests/sensors/test-mpu9250.cpp
+++ b/src/tests/sensors/test-mpu9250.cpp
@@ -72,9 +72,8 @@ int main()
         MPU9250Data data = mpu9250.getLastSample();
         printf("%lld,%f,%f,%f;", data.accelerationTimestamp, data.accelerationX,
                data.accelerationY, data.accelerationZ);
-        printf("%lld,%f,%f,%f;", data.angularVelocityTimestamp,
-               data.angularVelocityX, data.angularVelocityY,
-               data.angularVelocityZ);
+        printf("%lld,%f,%f,%f;", data.angularSpeedTimestamp, data.angularSpeedX,
+               data.angularSpeedY, data.angularSpeedZ);
         printf("%lld,%f,%f,%f\n", data.magneticFieldTimestamp,
                data.magneticFieldX, data.magneticFieldY, data.magneticFieldZ);
 
diff --git a/src/tests/sensors/test-vn100.cpp b/src/tests/sensors/test-vn100.cpp
index df1d1870ec448660c8fe809f3cf3fb41783c7be3..991f26650bedc095a014b686ab81a92e488b47d8 100644
--- a/src/tests/sensors/test-vn100.cpp
+++ b/src/tests/sensors/test-vn100.cpp
@@ -61,8 +61,8 @@ int main()
         printf("acc: %" PRIu64 ", %.3f, %.3f, %.3f\n",
                sample.accelerationTimestamp, sample.accelerationX,
                sample.accelerationY, sample.accelerationZ);
-        printf("ang: %.3f, %.3f, %.3f\n", sample.angularVelocityX,
-               sample.angularVelocityY, sample.angularVelocityZ);
+        printf("ang: %.3f, %.3f, %.3f\n", sample.angularSpeedX,
+               sample.angularSpeedY, sample.angularSpeedZ);
 
         sensor.sampleRaw();
         sampleRaw = sensor.getLastRawSample();
diff --git a/src/tests/test-sensormanager.cpp b/src/tests/test-sensormanager.cpp
index 011941abbc470c0586eecd68afa4d1e7ff4f70c3..644d70ae62febde949dffdc7def8a2cccb544e0a 100644
--- a/src/tests/test-sensormanager.cpp
+++ b/src/tests/test-sensormanager.cpp
@@ -105,8 +105,8 @@ struct MySensorDataFIFO : public AccelerometerData, public GyroscopeData
     MySensorDataFIFO(AccelerometerData acc, GyroscopeData gyro)
         : AccelerometerData{TimestampTimer::getTimestamp(), acc.accelerationX,
                             acc.accelerationY, acc.accelerationZ},
-          GyroscopeData{TimestampTimer::getTimestamp(), gyro.angularVelocityX,
-                        gyro.angularVelocityY, gyro.angularVelocityZ}
+          GyroscopeData{TimestampTimer::getTimestamp(), gyro.angularSpeedX,
+                        gyro.angularSpeedY, gyro.angularSpeedZ}
     {
     }
 };
@@ -131,9 +131,8 @@ public:
 
             TRACE("Accel : %llu %f %f %f \n", acc.accelerationTimestamp,
                   acc.accelerationX, acc.accelerationY, acc.accelerationZ);
-            TRACE("Gyro : %llu %f %f %f \n", gyro.angularVelocityTimestamp,
-                  gyro.angularVelocityX, gyro.angularVelocityY,
-                  gyro.angularVelocityZ);
+            TRACE("Gyro : %llu %f %f %f \n", gyro.angularSpeedTimestamp,
+                  gyro.angularSpeedX, gyro.angularSpeedY, gyro.angularSpeedZ);
 
             Thread::sleep(5);
         }
@@ -269,9 +268,8 @@ int main()
 
         TRACE("AccelProxy : %llu %f %f %f \n", data.accelerationTimestamp,
               data.accelerationX, data.accelerationY, data.accelerationZ);
-        TRACE("GyroProxy : %llu %f %f %f \n", data.angularVelocityTimestamp,
-              data.angularVelocityX, data.angularVelocityY,
-              data.angularVelocityZ);
+        TRACE("GyroProxy : %llu %f %f %f \n", data.angularSpeedTimestamp,
+              data.angularSpeedX, data.angularSpeedY, data.angularSpeedZ);
 
         Thread::sleep(1000);
     }