diff --git a/README.md b/README.md
index aa1cba0..243e5ea 100644
--- a/README.md
+++ b/README.md
@@ -188,7 +188,7 @@ The output is published on the following:
     | `ECEF-->FP_POI` | `/tf` | `ODOMETRY` | as configured on web-interface |
     | `ECEF-->FP_ENU` | `/tf` | `ODOMETRY` | as configured on web-interface |
     | `ECEF-->FP_ENU0` | `/tf` | `ODOMETRY` | as configured on web-interface |
-    | `FP_POI-->FP_IMU_HORIZONTAL` | `/tf` | `ODOMETRY` | 200Hz |
+    | `FP_POI-->FP_IMUH` | `/tf` | `ODOMETRY` | 200Hz |
     | `FP_POI-->FP_VRTK` | `/tf_static` | `TF_POI_VRTK` | 1Hz |
     | `FP_VRTK-->FP_CAM` | `/tf_static` | `TF_VRTK_CAM` | 1Hz |
 
@@ -197,7 +197,7 @@ The output is published on the following:
     ```mermaid
     graph TD;
     ECEF-->FP_POI-->FP_VRTK-->FP_CAM
-    FP_POI-->FP_IMU_HORIZONTAL
+    FP_POI-->FP_IMUH
     ECEF-->FP_ENU
     ECEF-->FP_ENU0
     ```
@@ -214,7 +214,7 @@ _Please note that the corresponding messages also has to be selected on the Fixp
 | **FP_ENU**            | The **local** East-North-Up coordinate frame with the origin at the same location as FP_POI.                                                   |
 | **FP_ENU0**           | The **global fixed** East-North-Up coordinate frame with the origin at the first received ODOMETRY position. Needed for visualization in Rviz. |
 | **FP_CAM**            | The camera coordinate frame of the V-RTK.                                                                                                      |
-| **FP_IMU_HORIZONTAL** | A local horizontal frame with the origin at the same location as FP_POI. This frame is a rough estimate determined by the IMU alone.           |
+| **FP_IMUH** | A local horizontal frame with the origin at the same location as FP_POI. This frame is a rough estimate determined by the IMU alone.           |
 
 ## Input Wheelspeed through the driver
 
diff --git a/fixposition_driver_ros1/src/fixposition_driver_node.cpp b/fixposition_driver_ros1/src/fixposition_driver_node.cpp
index 3a6e5d4..f834991 100644
--- a/fixposition_driver_ros1/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros1/src/fixposition_driver_node.cpp
@@ -136,7 +136,7 @@ void FixpositionDriverNode::RegisterObservers() {
                 // TF Observer Lambda
                 geometry_msgs::TransformStamped tf;
                 TfDataToMsg(data, tf);
-                if (tf.child_frame_id == "FP_IMU_HORIZONTAL" && tf.header.frame_id == "FP_POI") {
+                if (tf.child_frame_id == "FP_IMUH" && tf.header.frame_id == "FP_POI") {
                     br_.sendTransform(tf);
 
                     // Publish Pitch Roll based on IMU only
diff --git a/fixposition_driver_ros2/rviz/fixposition_driver_ros2.rviz b/fixposition_driver_ros2/rviz/fixposition_driver_ros2.rviz
index 8ed6f5e..41c4fd0 100644
--- a/fixposition_driver_ros2/rviz/fixposition_driver_ros2.rviz
+++ b/fixposition_driver_ros2/rviz/fixposition_driver_ros2.rviz
@@ -96,7 +96,7 @@ Visualization Manager:
         Z: 0
       Plane: XY
       Plane Cell Count: 10
-      Reference Frame: FP_IMU_HORIZONTAL
+      Reference Frame: FP_IMUH
       Value: false
     - Angle Tolerance: 0.10000000149011612
       Class: rviz_default_plugins/Odometry
@@ -149,7 +149,7 @@ Visualization Manager:
           Value: true
         FP_ENU0:
           Value: true
-        FP_IMU_HORIZONTAL:
+        FP_IMUH:
           Value: true
         FP_POI:
           Value: true
diff --git a/fixposition_driver_ros2/src/fixposition_driver_node.cpp b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
index c7a95b5..edf25bd 100644
--- a/fixposition_driver_ros2/src/fixposition_driver_node.cpp
+++ b/fixposition_driver_ros2/src/fixposition_driver_node.cpp
@@ -163,7 +163,7 @@ void FixpositionDriverNode::RegisterObservers() {
                 // TF Observer Lambda
                 geometry_msgs::msg::TransformStamped tf;
                 TfDataToMsg(data, tf);
-                if (tf.child_frame_id == "FP_IMU_HORIZONTAL" && tf.header.frame_id == "FP_POI") {
+                if (tf.child_frame_id == "FP_IMUH" && tf.header.frame_id == "FP_POI") {
                     br_->sendTransform(tf);
 
                     // Publish Pitch Roll based on IMU only