diff --git a/y2012/control_loops/drivetrain/drivetrain.cc b/y2012/control_loops/drivetrain/drivetrain.cc
index e97e440..0a2eef0 100644
--- a/y2012/control_loops/drivetrain/drivetrain.cc
+++ b/y2012/control_loops/drivetrain/drivetrain.cc
@@ -100,11 +100,11 @@
   // set the output status of the control loop state
   if (status) {
     status->robot_speed = dt_closedloop_.GetEstimatedRobotSpeed();
-    status->filtered_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
-    status->filtered_right_position = dt_closedloop_.GetEstimatedRightEncoder();
+    status->estimated_left_position = dt_closedloop_.GetEstimatedLeftEncoder();
+    status->estimated_right_position = dt_closedloop_.GetEstimatedRightEncoder();
 
-    status->filtered_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
-    status->filtered_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
+    status->estimated_left_velocity = dt_closedloop_.loop().X_hat(1, 0);
+    status->estimated_right_velocity = dt_closedloop_.loop().X_hat(3, 0);
     status->output_was_capped = dt_closedloop_.OutputWasCapped();
     status->uncapped_left_voltage = dt_closedloop_.loop().U_uncapped(0, 0);
     status->uncapped_right_voltage = dt_closedloop_.loop().U_uncapped(1, 0);
diff --git a/y2012/control_loops/drivetrain/drivetrain.q b/y2012/control_loops/drivetrain/drivetrain.q
index 819a28f..44080da 100644
--- a/y2012/control_loops/drivetrain/drivetrain.q
+++ b/y2012/control_loops/drivetrain/drivetrain.q
@@ -101,13 +101,13 @@
     // Estimated speed of the center of the robot in m/s (positive forwards).
     double robot_speed;
     // Estimated relative position of the left side in meters.
-    double filtered_left_position;
+    double estimated_left_position;
     // Estimated relative position of the right side in meters.
-    double filtered_right_position;
+    double estimated_right_position;
     // Estimated velocity of the left side in m/s.
-    double filtered_left_velocity;
+    double estimated_left_velocity;
     // Estimated velocity of the left side in m/s.
-    double filtered_right_velocity;
+    double estimated_right_velocity;
 
     // The voltage we wanted to send to the left side last cycle.
     double uncapped_left_voltage;