diff --git a/flix/cli.ino b/flix/cli.ino
index 4926243..d26f6c6 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -6,7 +6,7 @@
 #include "pid.h"
 #include "vector.h"
 #include "util.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 extern const int RAW, ACRO, STAB, AUTO;
diff --git a/flix/control.ino b/flix/control.ino
index dfa3661..43a2a4a 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -6,7 +6,7 @@
 #include "vector.h"
 #include "quaternion.h"
 #include "pid.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 const int RAW = 0, ACRO = 1, STAB = 2, AUTO = 3; // flight modes
diff --git a/flix/estimate.ino b/flix/estimate.ino
index 75c2ec6..0e52114 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -5,7 +5,7 @@
 
 #include "quaternion.h"
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 Vector rates; // estimated angular rates, rad/s
diff --git a/flix/lpf.h b/flix/filter.h
similarity index 100%
rename from flix/lpf.h
rename to flix/filter.h
diff --git a/flix/imu.ino b/flix/imu.ino
index 0aafb13..bd00814 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -7,7 +7,7 @@
 #include <Wire.h>
 #include <FlixPeriph.h>
 #include "vector.h"
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 IMU *imu;
diff --git a/flix/pid.h b/flix/pid.h
index c82e009..0475ef8 100644
--- a/flix/pid.h
+++ b/flix/pid.h
@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include "lpf.h"
+#include "filter.h"
 
 class PID {
 public:
diff --git a/flix/power.ino b/flix/power.ino
index 93e3038..0dcc17e 100644
--- a/flix/power.ino
+++ b/flix/power.ino
@@ -5,7 +5,7 @@
 
 #include <soc/soc.h>
 #include <soc/rtc_cntl_reg.h>
-#include "lpf.h"
+#include "filter.h"
 #include "util.h"
 
 float voltage = NAN;
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 62593e7..d9a33fc 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -9,7 +9,7 @@
 #include "quaternion.h"
 #include "Arduino.h"
 #include "wifi.h"
-#include "lpf.h"
+#include "filter.h"
 
 extern float t, dt;
 extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
index 60bf190..63bcec7 100644
--- a/gazebo/simulator.cpp
+++ b/gazebo/simulator.cpp
@@ -23,7 +23,7 @@
 #include "estimate.ino"
 #include "safety.ino"
 #include "log.ino"
-#include "lpf.h"
+#include "filter.h"
 #include "mavlink.ino"
 #include "motors.ino"
 #include "parameters.ino"