diff --git a/conf/firmwares/subsystems/shared/actuators_mkk2.makefile b/conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
similarity index 53%
rename from conf/firmwares/subsystems/shared/actuators_mkk2.makefile
rename to conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
index 9c4a879063d..d41b51e1406 100644
--- a/conf/firmwares/subsystems/shared/actuators_mkk2.makefile
+++ b/conf/firmwares/subsystems/shared/actuators_mkk_v2.makefile
@@ -5,40 +5,40 @@
 # <firmware name="rotorcraft">
 #   ...
 #   <subsystem name="actuators"     type="mkk">
-#     <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
+#     <configure name="MKK_V2_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
 #   </subsystem>
 #   <define name="I2C_TRANSACTION_QUEUE_LEN" value="10"/> <!-- default is 8, increase to 10 or more for 8 motors-->
 # </firmware>
 #
 #
 # required xml configuration:
-#  <section name="ACTUATORS_MKK2" prefix="ACTUATORS_MKK2_">
+#  <section name="ACTUATORS_MKK_V2" prefix="ACTUATORS_MKK_V2_">
 #    <define name="NB" value="4"/>
 #    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
 #  </section>
 #
-#  servo section with driver="Mkk"
+#  servo section with driver="Mkk_v2"
 #  command_laws section to map motor_mixing commands to servos
 #  max command = 2047
 
 $(TARGET).CFLAGS += -DACTUATORS
-ap.srcs += subsystems/actuators/actuators_mkk2.c
+ap.srcs += subsystems/actuators/actuators_mkk_v2.c
 
 ifeq ($(ARCH), lpc21)
 
 # set default i2c timing if not already configured
-ifeq ($(MKK2_I2C_SCL_TIME), )
-MKK_I2C2_SCL_TIME=150
+ifeq ($(MKK_V2_I2C_SCL_TIME), )
+MKK_V2_I2C2_SCL_TIME=150
 endif
 
-ap.CFLAGS += -DACTUATORS_MKK2_DEVICE=i2c0
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK2_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK2_I2C_SCL_TIME)
+ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c0
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_V2_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_V2_I2C_SCL_TIME)
 
 else ifeq ($(ARCH), stm32)
-ap.CFLAGS += -DACTUATORS_MKK2_DEVICE=i2c1
+ap.CFLAGS += -DACTUATORS_MKK_V2_DEVICE=i2c1
 ap.CFLAGS += -DUSE_I2C1
 endif
 
-# Simulator
-nps.srcs += subsystems/actuators/actuators_mkk.c
-nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_DEVICE=i2c0
+# Simulator:
+nps.srcs += subsystems/actuators/actuators_mkk_v2.c
+nps.CFLAGS += -DUSE_I2C0 -DACTUATORS_MKK_V2_DEVICE=i2c0
diff --git a/sw/airborne/modules/config/config_mkk.c b/sw/airborne/modules/config/config_mkk.c
index 699a1582b98..dfae4872c41 100644
--- a/sw/airborne/modules/config/config_mkk.c
+++ b/sw/airborne/modules/config/config_mkk.c
@@ -35,7 +35,7 @@ uint8_t config_mkk_crc(uint8_t offset);
 
 struct config_mkk_struct config_mkk;
 
-#define MAX_MOTORS ACTUATORS_MKK2_NB
+#define MAX_MOTORS ACTUATORS_MKK_V2_NB
 
 
 typedef struct
@@ -111,13 +111,13 @@ void init_config_mkk(void)
   }
 }
 
-#include "subsystems/actuators/actuators_mkk2.h"
+#include "subsystems/actuators/actuators_mkk_v2.h"
 
 void periodic_config_mkk_read_status(void)
 {
   static int read_nr = 0;
 
-  if (!actuators_mkk2.actuators_delay_done)
+  if (!actuators_mkk_v2.actuators_delay_done)
     return;
 
   switch (config_mkk.trans.status) {
@@ -149,7 +149,7 @@ void periodic_config_mkk_read_status(void)
     config_mkk_read_eeprom();
 
 
-    i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans);
+    i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &config_mkk.trans);
   }
   // Read Status
   else
@@ -157,7 +157,7 @@ void periodic_config_mkk_read_status(void)
     read_nr++;
     if (read_nr >= MAX_MOTORS)
       read_nr = 0;
-    const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR;
+    const uint8_t actuators_addr[ACTUATORS_MKK_V2_NB] = ACTUATORS_MKK_V2_ADDR;
     config_mkk.trans.type = I2CTransRx;
     config_mkk.trans.len_r = 3;
     config_mkk.trans.slave_addr = actuators_addr[read_nr];
@@ -246,7 +246,7 @@ void config_mkk_send_eeprom(void)
     config_mkk.trans.buf[8] = config_mkk_eeprom.BitConfig;
     config_mkk.trans.buf[9] = config_mkk_crc(2);
 
-    i2c_submit(&ACTUATORS_MKK2_DEVICE, &config_mkk.trans);
+    i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &config_mkk.trans);
 
 }
 
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk2.c b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c
similarity index 55%
rename from sw/airborne/subsystems/actuators/actuators_mkk2.c
rename to sw/airborne/subsystems/actuators/actuators_mkk_v2.c
index 4a4f900d388..0a3a0bbd791 100644
--- a/sw/airborne/subsystems/actuators/actuators_mkk2.c
+++ b/sw/airborne/subsystems/actuators/actuators_mkk_v2.c
@@ -19,60 +19,60 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file actuators_mkk.c
+/** @file actuators_mkk_v2.c
  *  Actuators driver for Mikrokopter motor controllers.
  */
 
 #include "subsystems/actuators.h"
-#include "subsystems/actuators/actuators_mkk2.h"
+#include "subsystems/actuators/actuators_mkk_v2.h"
 
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/sys_time.h"
 
 
-struct ActuatorsMkk2 actuators_mkk2;
+struct actuators_mkk_v2_struct actuators_mkk_v2;
 
 static uint32_t actuators_delay_time;
 
-void actuators_mkk2_init(void) {
+void actuators_mkk_v2_init(void) {
 
-  const uint8_t actuators_addr[ACTUATORS_MKK2_NB] = ACTUATORS_MKK2_ADDR;
-  for (uint8_t i=0; i<ACTUATORS_MKK2_NB; i++) {
-    actuators_mkk2.trans[i].type = I2CTransTx;
-    actuators_mkk2.trans[i].len_w = 2;
-    actuators_mkk2.trans[i].slave_addr = actuators_addr[i];
-    actuators_mkk2.trans[i].status = I2CTransSuccess;
+  const uint8_t actuators_addr[ACTUATORS_MKK_V2_NB] = ACTUATORS_MKK_V2_ADDR;
+  for (uint8_t i=0; i<ACTUATORS_MKK_V2_NB; i++) {
+    actuators_mkk_v2.trans[i].type = I2CTransTx;
+    actuators_mkk_v2.trans[i].len_w = 2;
+    actuators_mkk_v2.trans[i].slave_addr = actuators_addr[i];
+    actuators_mkk_v2.trans[i].status = I2CTransSuccess;
   }
 
 #if defined ACTUATORS_START_DELAY && ! defined SITL
-  actuators_mkk2.actuators_delay_done = FALSE;
+  actuators_mkk_v2.actuators_delay_done = FALSE;
   SysTimeTimerStart(actuators_delay_time);
 #else
-  actuators_mkk2.actuators_delay_done = TRUE;
+  actuators_mkk_v2.actuators_delay_done = TRUE;
   actuators_delay_time = 0;
 #endif
 
 }
 
 
-void actuators_mkk2_set(void) {
+void actuators_mkk_v2_set(void) {
 #if defined ACTUATORS_START_DELAY && ! defined SITL
-  if (!actuators_mkk2.actuators_delay_done) {
+  if (!actuators_mkk_v2.actuators_delay_done) {
     if (SysTimeTimer(actuators_delay_time) < USEC_OF_SEC(ACTUATORS_START_DELAY)) return;
-    else actuators_mkk2.actuators_delay_done = TRUE;
+    else actuators_mkk_v2.actuators_delay_done = TRUE;
   }
 #endif
 
-  for (uint8_t i=0; i<ACTUATORS_MKK2_NB; i++) {
+  for (uint8_t i=0; i<ACTUATORS_MKK_V2_NB; i++) {
 
 #ifdef KILL_MOTORS
-    actuators_mkk2.trans[i].buf[0] = 0;
-    actuators_mkk2.trans[i].buf[1] = 0;
+    actuators_mkk_v2.trans[i].buf[0] = 0;
+    actuators_mkk_v2.trans[i].buf[1] = 0;
 #else
-    actuators_mkk2.trans[i].buf[0] = (actuators_mkk2.setpoint[i] >> 3);
-    actuators_mkk2.trans[i].buf[1] = actuators_mkk2.setpoint[i] & 0x07;
+    actuators_mkk_v2.trans[i].buf[0] = (actuators_mkk_v2.setpoint[i] >> 3);
+    actuators_mkk_v2.trans[i].buf[1] = actuators_mkk_v2.setpoint[i] & 0x07;
 #endif
 
-    i2c_submit(&ACTUATORS_MKK2_DEVICE, &actuators_mkk2.trans[i]);
+    i2c_submit(&ACTUATORS_MKK_V2_DEVICE, &actuators_mkk_v2.trans[i]);
   }
 }
diff --git a/sw/airborne/subsystems/actuators/actuators_mkk2.h b/sw/airborne/subsystems/actuators/actuators_mkk_v2.h
similarity index 61%
rename from sw/airborne/subsystems/actuators/actuators_mkk2.h
rename to sw/airborne/subsystems/actuators/actuators_mkk_v2.h
index f35c5f7e355..b9634c26961 100644
--- a/sw/airborne/subsystems/actuators/actuators_mkk2.h
+++ b/sw/airborne/subsystems/actuators/actuators_mkk_v2.h
@@ -19,12 +19,12 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file actuators_mkk.h
+/** @file actuators_mkk_v2.h
  *  Actuators driver for Mikrokopter motor controllers.
  */
 
-#ifndef ACTUATORS_MKK_H
-#define ACTUATORS_MKK_H
+#ifndef ACTUATORS_MKK_V2_H
+#define ACTUATORS_MKK_V2_H
 
 #include "std.h"
 #include "mcu_periph/i2c.h"
@@ -32,19 +32,19 @@
 #include "generated/airframe.h"
 
 
-struct ActuatorsMkk2 {
-  bool_t   actuators_delay_done;    // mkk_config module wants to know state
-  uint16_t setpoint[ACTUATORS_MKK2_NB];
-  struct i2c_transaction trans[ACTUATORS_MKK2_NB];
+struct actuators_mkk_v2_struct {
+  bool_t   actuators_delay_done;    // config_mkk module wants to know state
+  uint16_t setpoint[ACTUATORS_MKK_V2_NB];
+  struct i2c_transaction trans[ACTUATORS_MKK_V2_NB];
 };
 
-extern struct ActuatorsMkk2 actuators_mkk2;
+extern struct actuators_mkk_v2_struct actuators_mkk_v2;
 
-extern void actuators_mkk2_init(void);
-extern void actuators_mkk2_set(void);
+extern void actuators_mkk_v2_init(void);
+extern void actuators_mkk_v2_set(void);
 
-#define ActuatorMkk2Set(_i, _v) { actuators_mkk2.setpoint[_i] = _v; }
-#define ActuatorsMkk2Init() actuators_mkk2_init()
-#define ActuatorsMkk2Commit() actuators_mkk2_set()
+#define ActuatorMkk_v2Set(_i, _v) { actuators_mkk_v2.setpoint[_i] = _v; }
+#define ActuatorsMkk_v2Init() actuators_mkk_v2_init()
+#define ActuatorsMkk_v2Commit() actuators_mkk_v2_set()
 
-#endif /* ACTUATORS_MKK_H */
+#endif /* ACTUATORS_MKK_V2_H */