diff --git a/examples/cpp/modes/manual/include/mode.hpp b/examples/cpp/modes/manual/include/mode.hpp
index b5ffa5c..bb30506 100644
--- a/examples/cpp/modes/manual/include/mode.hpp
+++ b/examples/cpp/modes/manual/include/mode.hpp
@@ -7,7 +7,7 @@
 #include <px4_ros2/components/mode.hpp>
 #include <px4_ros2/control/setpoint_types/experimental/rates.hpp>
 #include <px4_ros2/control/setpoint_types/experimental/attitude.hpp>
-#include <px4_ros2/control/offboard_actuators.hpp>
+#include <px4_ros2/control/peripheral_actuators.hpp>
 
 #include <Eigen/Eigen>
 
@@ -47,7 +47,7 @@ class FlightModeTest : public px4_ros2::ModeBase
     _manual_control_input = std::make_shared<px4_ros2::ManualControlInput>(*this);
     _rates_setpoint = std::make_shared<px4_ros2::RatesSetpointType>(*this);
     _attitude_setpoint = std::make_shared<px4_ros2::AttitudeSetpointType>(*this);
-    _offboard_actuator_controls = std::make_shared<px4_ros2::OffboardActuatorControls>(*this);
+    _peripheral_actuator_controls = std::make_shared<px4_ros2::PeripheralActuatorControls>(*this);
   }
 
   void onActivate() override {}
@@ -82,15 +82,15 @@ class FlightModeTest : public px4_ros2::ModeBase
       _attitude_setpoint->update(qd, thrust_sp, yaw_rate);
     }
 
-    // Example to control a servo by passing through RC aux1 channel to 'Offboard Actuator Set 1'
-    _offboard_actuator_controls->set(_manual_control_input->aux1());
+    // Example to control a servo by passing through RC aux1 channel to 'Peripheral Actuator Set 1'
+    _peripheral_actuator_controls->set(_manual_control_input->aux1());
   }
 
 private:
   std::shared_ptr<px4_ros2::ManualControlInput> _manual_control_input;
   std::shared_ptr<px4_ros2::RatesSetpointType> _rates_setpoint;
   std::shared_ptr<px4_ros2::AttitudeSetpointType> _attitude_setpoint;
-  std::shared_ptr<px4_ros2::OffboardActuatorControls> _offboard_actuator_controls;
+  std::shared_ptr<px4_ros2::PeripheralActuatorControls> _peripheral_actuator_controls;
   float _yaw{0.F};
 };
 
diff --git a/px4_ros2_cpp/CMakeLists.txt b/px4_ros2_cpp/CMakeLists.txt
index bc7ced7..f7ac39f 100644
--- a/px4_ros2_cpp/CMakeLists.txt
+++ b/px4_ros2_cpp/CMakeLists.txt
@@ -30,7 +30,7 @@ set(HEADER_FILES
         include/px4_ros2/components/mode_executor.hpp
         include/px4_ros2/components/overrides.hpp
         include/px4_ros2/components/wait_for_fmu.hpp
-        include/px4_ros2/control/offboard_actuators.hpp
+        include/px4_ros2/control/peripheral_actuators.hpp
         include/px4_ros2/control/setpoint_types/direct_actuators.hpp
         include/px4_ros2/control/setpoint_types/experimental/attitude.hpp
         include/px4_ros2/control/setpoint_types/experimental/rates.hpp
@@ -49,7 +49,7 @@ add_library(px4_ros2_cpp
         src/components/overrides.cpp
         src/components/registration.cpp
         src/components/wait_for_fmu.cpp
-        src/control/offboard_actuators.cpp
+        src/control/peripheral_actuators.cpp
         src/control/setpoint_types/direct_actuators.cpp
         src/control/setpoint_types/experimental/attitude.cpp
         src/control/setpoint_types/experimental/rates.cpp
diff --git a/px4_ros2_cpp/include/px4_ros2/control/offboard_actuators.hpp b/px4_ros2_cpp/include/px4_ros2/control/peripheral_actuators.hpp
similarity index 83%
rename from px4_ros2_cpp/include/px4_ros2/control/offboard_actuators.hpp
rename to px4_ros2_cpp/include/px4_ros2/control/peripheral_actuators.hpp
index f23a483..d5ffdef 100644
--- a/px4_ros2_cpp/include/px4_ros2/control/offboard_actuators.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/control/peripheral_actuators.hpp
@@ -14,15 +14,15 @@ namespace px4_ros2
 {
 
 /**
- * Control one or more extra actuators. It maps to the 'Offboard Actuator Set' output functions on the PX4 side.
+ * Control one or more extra actuators. It maps to the 'Peripheral Actuator Set' output functions on the PX4 side.
  * This can be used by a mode independent from the setpoints.
  */
-class OffboardActuatorControls
+class PeripheralActuatorControls
 {
 public:
   static constexpr int kNumActuators = 6;
 
-  explicit OffboardActuatorControls(Context & context);
+  explicit PeripheralActuatorControls(Context & context);
 
   /**
    * Control actuators
diff --git a/px4_ros2_cpp/src/control/offboard_actuators.cpp b/px4_ros2_cpp/src/control/peripheral_actuators.cpp
similarity index 82%
rename from px4_ros2_cpp/src/control/offboard_actuators.cpp
rename to px4_ros2_cpp/src/control/peripheral_actuators.cpp
index 756a08e..3fb2d2c 100644
--- a/px4_ros2_cpp/src/control/offboard_actuators.cpp
+++ b/px4_ros2_cpp/src/control/peripheral_actuators.cpp
@@ -3,14 +3,14 @@
  * SPDX-License-Identifier: BSD-3-Clause
  ****************************************************************************/
 
-#include <px4_ros2/control/offboard_actuators.hpp>
+#include <px4_ros2/control/peripheral_actuators.hpp>
 
 using namespace std::chrono_literals;
 
 namespace px4_ros2
 {
 
-OffboardActuatorControls::OffboardActuatorControls(Context & context)
+PeripheralActuatorControls::PeripheralActuatorControls(Context & context)
 : _node(context.node())
 {
   _vehicle_command_pub = _node.create_publisher<px4_msgs::msg::VehicleCommand>(
@@ -18,7 +18,7 @@ OffboardActuatorControls::OffboardActuatorControls(Context & context)
   _last_update = _node.get_clock()->now();
 }
 
-void OffboardActuatorControls::set(const Eigen::Matrix<float, kNumActuators, 1> & values)
+void PeripheralActuatorControls::set(const Eigen::Matrix<float, kNumActuators, 1> & values)
 {
   // Rate-limit to avoid spamming the FC with commands at high frequency
   const auto now = _node.get_clock()->now();
@@ -41,7 +41,7 @@ void OffboardActuatorControls::set(const Eigen::Matrix<float, kNumActuators, 1>
   }
 }
 
-void OffboardActuatorControls::set(float value, unsigned int index)
+void PeripheralActuatorControls::set(float value, unsigned int index)
 {
   Eigen::Matrix<float, kNumActuators, 1> values;
   values.setConstant(NAN);