diff --git a/pid/ec/pid.cpp b/pid/ec/pid.cpp
index af70da7..7d8b403 100644
--- a/pid/ec/pid.cpp
+++ b/pid/ec/pid.cpp
@@ -74,7 +74,7 @@
 
     // slew rate
     // TODO(aarena) - Simplify logic as Andy suggested by creating dynamic
-    // out_lim_min/max that are affected by slew rate control and just clamping
+    // outLim_min/max that are affected by slew rate control and just clamping
     // to those instead of effectively clamping twice.
     if (pidinfoptr->initialized)
     {
diff --git a/pid/ec/pid.hpp b/pid/ec/pid.hpp
index 432e043..74ad5a7 100644
--- a/pid/ec/pid.hpp
+++ b/pid/ec/pid.hpp
@@ -40,15 +40,15 @@
 /* Condensed version for use by the configuration. */
 struct pidinfo
 {
-    double ts;            // sample time in seconds
-    double p_c;           // coeff for P
-    double i_c;           // coeff for I
-    double ff_off;        // offset coeff for feed-forward term
-    double ff_gain;       // gain for feed-forward term
-    ec::limits_t i_lim;   // clamp of integral
-    ec::limits_t out_lim; // clamp of output
-    double slew_neg;
-    double slew_pos;
+    double ts;                  // sample time in seconds
+    double proportionalCoeff;   // coeff for P
+    double integralCoeff;       // coeff for I
+    double feedFwdOffset;       // offset coeff for feed-forward term
+    double feedFwdGain;         // gain for feed-forward term
+    ec::limits_t integralLimit; // clamp of integral
+    ec::limits_t outLim;        // clamp of output
+    double slewNeg;
+    double slewPos;
     double positiveHysteresis;
     double negativeHysteresis;
 };