diff --git a/README.md b/README.md
index 3b56a94..e029d71 100644
--- a/README.md
+++ b/README.md
@@ -340,7 +340,7 @@
 fleeting1+---->+-------+    +---+---+
                                 |
                                 |
-                                | RPM set-point
+                                | RPM setpoint
                     Current RPM v
                              +--+-----+
   The Fan PID        fan0+--->        |  New PWM  +-->fan0
diff --git a/examples/swampd.conf b/examples/swampd.conf
index 0866c5b..d1aeebb 100644
--- a/examples/swampd.conf
+++ b/examples/swampd.conf
@@ -73,7 +73,7 @@
           "fan7",
           "fan8"
         )
-        set-point = 90.0
+        setpoint = 90.0
         pid = {
           samplePeriod = 0.1
           proportionalCoeff = 0.01
diff --git a/pid/README b/pid/README
index 7c3f919..7613530 100644
--- a/pid/README
+++ b/pid/README
@@ -3,7 +3,7 @@
 what was published in the Chrome OS source.
 
 One has any number of ThermalControllers that run through a PID step to
-generate a set-point RPM to reach its thermal set-point.  The maximum output
+generate a setpoint RPM to reach its thermal setpoint.  The maximum output
 from the set of ThermalControllers is taken as the input to all the
 FanController PID loops.
 
diff --git a/pid/builderconfig.cpp b/pid/builderconfig.cpp
index 732d9fc..ad62c85 100644
--- a/pid/builderconfig.cpp
+++ b/pid/builderconfig.cpp
@@ -99,9 +99,9 @@
                  */
                 name = pid.lookup("name").c_str();
                 info.type = pid.lookup("type").c_str();
-                /* set-point is only required to be set for thermal. */
+                /* setpoint is only required to be set for thermal. */
                 /* TODO(venture): Verify this works optionally here. */
-                info.setpoint = pid.lookup("set-point");
+                info.setpoint = pid.lookup("setpoint");
                 info.pidInfo.ts = pid.lookup("pid.samplePeriod");
                 info.pidInfo.proportionalCoeff =
                     pid.lookup("pid.proportionalCoeff");
diff --git a/pid/pidthread.cpp b/pid/pidthread.cpp
index 7d27e42..44c5e86 100644
--- a/pid/pidthread.cpp
+++ b/pid/pidthread.cpp
@@ -33,7 +33,7 @@
     zone->clearRPMSetPoints();
     // Run the margin PIDs.
     zone->processThermals();
-    // Get the maximum RPM set-point.
+    // Get the maximum RPM setpoint.
     zone->determineMaxRPMRequest();
 }
 
diff --git a/pid/thermalcontroller.hpp b/pid/thermalcontroller.hpp
index 1a602a2..fa5aa4d 100644
--- a/pid/thermalcontroller.hpp
+++ b/pid/thermalcontroller.hpp
@@ -9,7 +9,7 @@
 
 /*
  * A ThermalController is a PID controller that reads a number of sensors and
- * provides the set-points for the fans.
+ * provides the setpoints for the fans.
  */
 
 enum class ThermalType
diff --git a/pid/zone.cpp b/pid/zone.cpp
index cc135bf..b6bdba0 100644
--- a/pid/zone.cpp
+++ b/pid/zone.cpp
@@ -118,18 +118,18 @@
     }
 
     /*
-     * If the maximum RPM set-point output is below the minimum RPM
-     * set-point, set it to the minimum.
+     * If the maximum RPM setpoint output is below the minimum RPM
+     * setpoint, set it to the minimum.
      */
     max = std::max(getMinThermalRPMSetpoint(), max);
 
 #ifdef __TUNING_LOGGING__
     /*
-     * We received no set-points from thermal sensors.
+     * We received no setpoints from thermal sensors.
      * This is a case experienced during tuning where they only specify
      * fan sensors and one large fan PID for all the fans.
      */
-    static constexpr auto setpointpath = "/etc/thermal.d/set-point";
+    static constexpr auto setpointpath = "/etc/thermal.d/setpoint";
     try
     {
         std::ifstream ifs;
@@ -139,7 +139,7 @@
             int value;
             ifs >> value;
 
-            /* expecting RPM set-point, not pwm% */
+            /* expecting RPM setpoint, not pwm% */
             max = static_cast<double>(value);
         }
     }
diff --git a/scripts/pid-example.txt b/scripts/pid-example.txt
index 8321b39..5161d7f 100644
--- a/scripts/pid-example.txt
+++ b/scripts/pid-example.txt
@@ -4,8 +4,8 @@
     inputs:   /* Sensor names that are inputs for the PID */
       fan2
       fan6
-    /* For temp/margin PIDs this is the set-point, ignored otherwise (double) */
-    set-point: 90.0
+    /* For temp/margin PIDs this is the setpoint, ignored otherwise (double) */
+    setpoint: 90.0
     pid: /* The PID calculation configuration. */
       samplePeriod: 0.1        /* The input sample period. (double) */
       proportionalCoeff: 0.01      /* The proportional coefficient. (double) */
diff --git a/scripts/pid-example.yaml b/scripts/pid-example.yaml
index f7a4ba3..001eab1 100644
--- a/scripts/pid-example.yaml
+++ b/scripts/pid-example.yaml
@@ -4,7 +4,7 @@
     inputs:
       fan2
       fan6
-    set-point: 90.0
+    setpoint: 90.0
     pid:
       samplePeriod: 0.1
       proportionalCoeff: 0.01
@@ -23,7 +23,7 @@
     type: temp
     inputs:
       temp1
-    set-point: 30.0
+    setpoint: 30.0
     pid:
       samplePeriod: 1
       proportionalCoeff: 94.0
@@ -42,7 +42,7 @@
     type: margin
     inputs:
       sluggish0
-    set-point: 50
+    setpoint: 50
     pid:
       samplePeriod: 1
       proportionalCoeff: 94.0
diff --git a/scripts/writepid.mako.cpp b/scripts/writepid.mako.cpp
index 394f326..2e6738d 100644
--- a/scripts/writepid.mako.cpp
+++ b/scripts/writepid.mako.cpp
@@ -20,13 +20,13 @@
                    % endfor
                  },
                  <%
-                      # If the PID type is a fan, set-point field is unused,
+                      # If the PID type is a fan, setpoint field is unused,
                       # so just use a default of 0.  If the PID is not a type
-                      # of fan, require the set-point field.
+                      # of fan, require the setpoint field.
                       if 'fan' == details['type']:
                           setpoint = 0
                       else:
-                          setpoint = details['set-point']
+                          setpoint = details['setpoint']
 
                       neg_hysteresis = 0
                       pos_hysteresis = 0
diff --git a/test/pid_zone_unittest.cpp b/test/pid_zone_unittest.cpp
index 239a04a..e8c8a2b 100644
--- a/test/pid_zone_unittest.cpp
+++ b/test/pid_zone_unittest.cpp
@@ -146,7 +146,7 @@
 TEST_F(PidZoneTest, RpmSetPoints_AddBelowMinimum_BehavesAsExpected)
 {
     // Tests adding several RPM setpoints, however, they're all lower than the
-    // configured minimal thermal set-point RPM value.
+    // configured minimal thermal setpoint RPM value.
 
     std::vector<double> values = {100, 200, 300, 400, 500};
     for (auto v : values)