diff --git a/README.md b/README.md
index 18c89f4..3b56a94 100644
--- a/README.md
+++ b/README.md
@@ -107,16 +107,16 @@
       writePath: "/sys/class/hwmon/hwmon0/pwm0"
     pidinfo:
       samplerate: 0.1 // sample time in seconds
-      p_coeff: 0.01 // coefficient for proportional
-      i_coeff: 0.001 // coefficient for integral
+      proportionalCoeff: 0.01 // coefficient for proportional
+      integralCoeff: 0.001 // coefficient for integral
       integral_limit:
         min: 0
         max: 100
       output_limit:
         min: 0
         max: 100
-      slew_negative: 0
-      slew_positive: 0
+      slewNegative: 0
+      slewPositive: 0
   {PIDID}:
     type: "margin"
     ipmi:
@@ -126,16 +126,16 @@
       writePath: ""
     pidinfo:
       samplerate: 1 // sample time in seconds
-      p_coeff: 94.0
-      i_coeff: 2.0
+      proportionalCoeff: 94.0
+      integralCoeff: 2.0
       integral_limit:
         min: 3000
         max: 10000
       output_limit:
         min: 3000
         max: 10000
-      slew_negative: 0
-      slew_positive: 0
+      slewNegative: 0
+      slewPositive: 0
 ```
 
 ### Chassis Delta
diff --git a/dbus/dbusconfiguration.cpp b/dbus/dbusconfiguration.cpp
index e4396c4..fa7a3dd 100644
--- a/dbus/dbusconfiguration.cpp
+++ b/dbus/dbusconfiguration.cpp
@@ -113,16 +113,21 @@
             std::cout << "\t\t\t}\n";
             std::cout << "\t\t\t" << pidconf.second.setpoint << ",\n";
             std::cout << "\t\t\t{" << pidconf.second.pidInfo.ts << ",\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.p_c << ",\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.i_c << ",\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_off << ",\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.ff_gain << ",\n";
-            std::cout << "\t\t\t{" << pidconf.second.pidInfo.i_lim.min << ","
-                      << pidconf.second.pidInfo.i_lim.max << "},\n";
-            std::cout << "\t\t\t{" << pidconf.second.pidInfo.out_lim.min << ","
-                      << pidconf.second.pidInfo.out_lim.max << "},\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_neg << ",\n";
-            std::cout << "\t\t\t" << pidconf.second.pidInfo.slew_pos << ",\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.proportionalCoeff
+                      << ",\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.integralCoeff
+                      << ",\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdOffset
+                      << ",\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.feedFwdGain
+                      << ",\n";
+            std::cout << "\t\t\t{" << pidconf.second.pidInfo.integralLimit.min
+                      << "," << pidconf.second.pidInfo.integralLimit.max
+                      << "},\n";
+            std::cout << "\t\t\t{" << pidconf.second.pidInfo.outLim.min << ","
+                      << pidconf.second.pidInfo.outLim.max << "},\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.slewNeg << ",\n";
+            std::cout << "\t\t\t" << pidconf.second.pidInfo.slewPos << ",\n";
             std::cout << "\t\t\t}\n\t\t}\n";
         }
         std::cout << "\t},\n";
@@ -402,25 +407,25 @@
                                                base.at("SetPoint"));
                 }
                 info.pidInfo.ts = 1.0; // currently unused
-                info.pidInfo.p_c = std::visit(VariantToDoubleVisitor(),
-                                              base.at("PCoefficient"));
-                info.pidInfo.i_c = std::visit(VariantToDoubleVisitor(),
-                                              base.at("ICoefficient"));
-                info.pidInfo.ff_off = std::visit(VariantToDoubleVisitor(),
-                                                 base.at("FFOffCoefficient"));
-                info.pidInfo.ff_gain = std::visit(VariantToDoubleVisitor(),
-                                                  base.at("FFGainCoefficient"));
-                info.pidInfo.i_lim.max =
+                info.pidInfo.proportionalCoeff = std::visit(
+                    VariantToDoubleVisitor(), base.at("PCoefficient"));
+                info.pidInfo.integralCoeff = std::visit(
+                    VariantToDoubleVisitor(), base.at("ICoefficient"));
+                info.pidInfo.feedFwdOffset = std::visit(
+                    VariantToDoubleVisitor(), base.at("FFOffCoefficient"));
+                info.pidInfo.feedFwdGain = std::visit(
+                    VariantToDoubleVisitor(), base.at("FFGainCoefficient"));
+                info.pidInfo.integralLimit.max =
                     std::visit(VariantToDoubleVisitor(), base.at("ILimitMax"));
-                info.pidInfo.i_lim.min =
+                info.pidInfo.integralLimit.min =
                     std::visit(VariantToDoubleVisitor(), base.at("ILimitMin"));
-                info.pidInfo.out_lim.max = std::visit(VariantToDoubleVisitor(),
-                                                      base.at("OutLimitMax"));
-                info.pidInfo.out_lim.min = std::visit(VariantToDoubleVisitor(),
-                                                      base.at("OutLimitMin"));
-                info.pidInfo.slew_neg =
+                info.pidInfo.outLim.max = std::visit(VariantToDoubleVisitor(),
+                                                     base.at("OutLimitMax"));
+                info.pidInfo.outLim.min = std::visit(VariantToDoubleVisitor(),
+                                                     base.at("OutLimitMin"));
+                info.pidInfo.slewNeg =
                     std::visit(VariantToDoubleVisitor(), base.at("SlewNeg"));
-                info.pidInfo.slew_pos =
+                info.pidInfo.slewPos =
                     std::visit(VariantToDoubleVisitor(), base.at("SlewPos"));
                 double negativeHysteresis = 0;
                 double positiveHysteresis = 0;
diff --git a/examples/swampd.conf b/examples/swampd.conf
index fd492ee..0866c5b 100644
--- a/examples/swampd.conf
+++ b/examples/swampd.conf
@@ -75,21 +75,21 @@
         )
         set-point = 90.0
         pid = {
-          sampleperiod = 0.1
-          p_coefficient = 0.01
-          i_coefficient = 0.001
-          ff_off_coefficient = 0.0
-          ff_gain_coefficient = 0.0
-          i_limit = {
+          samplePeriod = 0.1
+          proportionalCoeff = 0.01
+          integralCoeff = 0.001
+          feedFwdOffOffsetCoeff = 0.0
+          feedFwdGainCoeff = 0.0
+          integralCoeff = {
             min: 0.0
             max: 100.0
           }
-          out_limit = {
+          outLimit = {
             min: 0.0
             max: 100.0
           }
-          slew_neg = 0.0
-          slew_pos = 0.0
+          slewNeg = 0.0
+          slewPos = 0.0
         }
       }
     )
diff --git a/pid/builderconfig.cpp b/pid/builderconfig.cpp
index 652724d..732d9fc 100644
--- a/pid/builderconfig.cpp
+++ b/pid/builderconfig.cpp
@@ -102,22 +102,24 @@
                 /* set-point is only required to be set for thermal. */
                 /* TODO(venture): Verify this works optionally here. */
                 info.setpoint = pid.lookup("set-point");
-                info.pidInfo.ts = pid.lookup("pid.sampleperiod");
-                info.pidInfo.p_c = pid.lookup("pid.p_coefficient");
-                info.pidInfo.i_c = pid.lookup("pid.i_coefficient");
-                info.pidInfo.ff_off = pid.lookup("pid.ff_off_coefficient");
-                info.pidInfo.ff_gain = pid.lookup("pid.ff_gain_coefficient");
-                info.pidInfo.i_lim.min = pid.lookup("pid.i_limit.min");
-                info.pidInfo.i_lim.max = pid.lookup("pid.i_limit.max");
-                info.pidInfo.out_lim.min = pid.lookup("pid.out_limit.min");
-                info.pidInfo.out_lim.max = pid.lookup("pid.out_limit.max");
-                info.pidInfo.slew_neg = pid.lookup("pid.slew_neg");
-                info.pidInfo.slew_pos = pid.lookup("pid.slew_pos");
+                info.pidInfo.ts = pid.lookup("pid.samplePeriod");
+                info.pidInfo.proportionalCoeff =
+                    pid.lookup("pid.proportionalCoeff");
+                info.pidInfo.integralCoeff = pid.lookup("pid.integralCoeff");
+                info.pidInfo.feedFwdOffset =
+                    pid.lookup("pid.feedFwdOffOffsetCoeff");
+                info.pidInfo.feedFwdGain = pid.lookup("pid.feedFwdGainCoeff");
+                info.pidInfo.integralLimit.min =
+                    pid.lookup("pid.integralCoeff.min");
+                info.pidInfo.integralLimit.max =
+                    pid.lookup("pid.integralCoeff.max");
+                info.pidInfo.outLim.min = pid.lookup("pid.outLimit.min");
+                info.pidInfo.outLim.max = pid.lookup("pid.outLimit.max");
+                info.pidInfo.slewNeg = pid.lookup("pid.slewNeg");
+                info.pidInfo.slewPos = pid.lookup("pid.slewPos");
 
-                std::cerr << "out_lim.min: " << info.pidInfo.out_lim.min
-                          << "\n";
-                std::cerr << "out_lim.max: " << info.pidInfo.out_lim.max
-                          << "\n";
+                std::cerr << "outLim.min: " << info.pidInfo.outLim.min << "\n";
+                std::cerr << "outLim.max: " << info.pidInfo.outLim.max << "\n";
 
                 const Setting& inputs = pid["inputs"];
                 int icount = inputs.getLength();
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;
 };
diff --git a/pid/util.cpp b/pid/util.cpp
index 6993fbb..5c6e5d4 100644
--- a/pid/util.cpp
+++ b/pid/util.cpp
@@ -24,32 +24,32 @@
     std::memset(info, 0x00, sizeof(ec::pid_info_t));
 
     info->ts = initial.ts;
-    info->proportionalCoeff = initial.p_c;
-    info->integralCoeff = initial.i_c;
-    info->feedFwdOffset = initial.ff_off;
-    info->feedFwdGain = initial.ff_gain;
-    info->integralLimit.min = initial.i_lim.min;
-    info->integralLimit.max = initial.i_lim.max;
-    info->outLim.min = initial.out_lim.min;
-    info->outLim.max = initial.out_lim.max;
-    info->slewNeg = initial.slew_neg;
-    info->slewPos = initial.slew_pos;
+    info->proportionalCoeff = initial.proportionalCoeff;
+    info->integralCoeff = initial.integralCoeff;
+    info->feedFwdOffset = initial.feedFwdOffset;
+    info->feedFwdGain = initial.feedFwdGain;
+    info->integralLimit.min = initial.integralLimit.min;
+    info->integralLimit.max = initial.integralLimit.max;
+    info->outLim.min = initial.outLim.min;
+    info->outLim.max = initial.outLim.max;
+    info->slewNeg = initial.slewNeg;
+    info->slewPos = initial.slewPos;
     info->negativeHysteresis = initial.negativeHysteresis;
     info->positiveHysteresis = initial.positiveHysteresis;
 }
 
 void dumpPIDStruct(ec::pid_info_t* info)
 {
-    std::cerr << " ts: " << info->ts << " p_c: " << info->proportionalCoeff
-              << " i_c: " << info->integralCoeff
-              << " ff_off: " << info->feedFwdOffset
-              << " ff_gain: " << info->feedFwdGain
-              << " i_lim.min: " << info->integralLimit.min
-              << " i_lim.max: " << info->integralLimit.max
-              << " out_lim.min: " << info->outLim.min
-              << " out_lim.max: " << info->outLim.max
-              << " slew_neg: " << info->slewNeg
-              << " slew_pos: " << info->slewPos
+    std::cerr << " ts: " << info->ts
+              << " proportionalCoeff: " << info->proportionalCoeff
+              << " integralCoeff: " << info->integralCoeff
+              << " feedFwdOffset: " << info->feedFwdOffset
+              << " feedFwdGain: " << info->feedFwdGain
+              << " integralLimit.min: " << info->integralLimit.min
+              << " integralLimit.max: " << info->integralLimit.max
+              << " outLim.min: " << info->outLim.min
+              << " outLim.max: " << info->outLim.max
+              << " slewNeg: " << info->slewNeg << " slewPos: " << info->slewPos
               << " last_output: " << info->lastOutput
               << " integral: " << info->integral << std::endl;
 
diff --git a/scripts/pid-example.txt b/scripts/pid-example.txt
index 3627196..8321b39 100644
--- a/scripts/pid-example.txt
+++ b/scripts/pid-example.txt
@@ -7,18 +7,18 @@
     /* For temp/margin PIDs this is the set-point, ignored otherwise (double) */
     set-point: 90.0
     pid: /* The PID calculation configuration. */
-      sampleperiod: 0.1        /* The input sample period. (double) */
-      p_coefficient: 0.01      /* The proportional coefficient. (double) */
-      i_coefficient: 0.001     /* The integral coefficient. (double) */
+      samplePeriod: 0.1        /* The input sample period. (double) */
+      proportionalCoeff: 0.01      /* The proportional coefficient. (double) */
+      integralCoeff: 0.001     /* The integral coefficient. (double) */
       /* The feed-forward offset coefficient. (double) */
-      ff_off_coefficient: 0.0
+      feedFwdOffOffsetCoeff: 0.0
       /* The feed-forward gain coefficient. (double) */
-      ff_gain_coefficient: 0.0
-      i_limit:   /* The integral limit clamp, min, max (double) */
+      feedFwdGainCoeff: 0.0
+      integralCoeff:   /* The integral limit clamp, min, max (double) */
         min: 0
         max: 100
-      out_limit: /* the PID output clamp, min, max (double) */
+      outLimit: /* the PID output clamp, min, max (double) */
         min: 0
         max: 100
-      slew_neg: -100 /* The slew negative value. (double) */
-      slew_pos: 0 /* The slew positive value. (double) */
+      slewNeg: -100 /* The slew negative value. (double) */
+      slewPos: 0 /* The slew positive value. (double) */
diff --git a/scripts/pid-example.yaml b/scripts/pid-example.yaml
index ea89b26..f7a4ba3 100644
--- a/scripts/pid-example.yaml
+++ b/scripts/pid-example.yaml
@@ -6,54 +6,54 @@
       fan6
     set-point: 90.0
     pid:
-      sampleperiod: 0.1
-      p_coefficient: 0.01
-      i_coefficient: 0.001
-      ff_off_coefficient: 0.0
-      ff_gain_coefficient: 0.0
-      i_limit:
+      samplePeriod: 0.1
+      proportionalCoeff: 0.01
+      integralCoeff: 0.001
+      feedFwdOffOffsetCoeff: 0.0
+      feedFwdGainCoeff: 0.0
+      integralLimit:
         min: 0
         max: 100
-      out_limit:
+      outLimit:
         min: 0
         max: 100
-      slew_neg: 0
-      slew_pos: 0
+      slewNeg: 0
+      slewPos: 0
   temp1:
     type: temp
     inputs:
       temp1
     set-point: 30.0
     pid:
-      sampleperiod: 1
-      p_coefficient: 94.0
-      i_coefficient: 2.0
-      ff_off_coefficient: 0.0
-      ff_gain_coefficient: 0.0
-      i_limit:
+      samplePeriod: 1
+      proportionalCoeff: 94.0
+      integralCoeff: 2.0
+      feedFwdOffOffsetCoeff: 0.0
+      feedFwdGainCoeff: 0.0
+      integralLimit:
         min: 3000
         max: 10000
-      out_limit:
+      outLimit:
         min: 3000
         max: 10000
-      slew_neg: 0
-      slew_pos: 0
+      slewNeg: 0
+      slewPos: 0
   sluggish0:
     type: margin
     inputs:
       sluggish0
     set-point: 50
     pid:
-      sampleperiod: 1
-      p_coefficient: 94.0
-      i_coefficient: 2.0
-      ff_off_coefficient: 0.0
-      ff_gain_coefficient: 0.0
-      i_limit:
+      samplePeriod: 1
+      proportionalCoeff: 94.0
+      integralCoeff: 2.0
+      feedFwdOffOffsetCoeff: 0.0
+      feedFwdGainCoeff: 0.0
+      integralLimit:
         min: 3000
         max: 10000
-      out_limit:
+      outLimit:
         min: 3000
         max: 10000
-      slew_neg: 0
-      slew_pos: 0
+      slewNeg: 0
+      slewPos: 0
diff --git a/scripts/writepid.mako.cpp b/scripts/writepid.mako.cpp
index 852f4c0..394f326 100644
--- a/scripts/writepid.mako.cpp
+++ b/scripts/writepid.mako.cpp
@@ -36,15 +36,15 @@
                           pos_hysteresis = details['pid']['pos_hysteresis']
                   %>
                  ${setpoint},
-                 {${details['pid']['sampleperiod']},
-                  ${details['pid']['p_coefficient']},
-                  ${details['pid']['i_coefficient']},
-                  ${details['pid']['ff_off_coefficient']},
-                  ${details['pid']['ff_gain_coefficient']},
-                  {${details['pid']['i_limit']['min']}, ${details['pid']['i_limit']['max']}},
-                  {${details['pid']['out_limit']['min']}, ${details['pid']['out_limit']['max']}},
-                  ${details['pid']['slew_neg']},
-                  ${details['pid']['slew_pos']},
+                 {${details['pid']['samplePeriod']},
+                  ${details['pid']['proportionalCoeff']},
+                  ${details['pid']['integralCoeff']},
+                  ${details['pid']['feedFwdOffOffsetCoeff']},
+                  ${details['pid']['feedFwdGainCoeff']},
+                  {${details['pid']['integralLimit']['min']}, ${details['pid']['integralLimit']['max']}},
+                  {${details['pid']['outLimit']['min']}, ${details['pid']['outLimit']['max']}},
+                  ${details['pid']['slewNeg']},
+                  ${details['pid']['slewPos']},
                   ${neg_hysteresis},
                   ${pos_hysteresis}},
                 },