diff --git a/python/fusion_engine_client/analysis/analyzer.py b/python/fusion_engine_client/analysis/analyzer.py
index 17078158..3f4eb570 100755
--- a/python/fusion_engine_client/analysis/analyzer.py
+++ b/python/fusion_engine_client/analysis/analyzer.py
@@ -1943,24 +1943,24 @@ def _plot_imu_data(self, message_cls, filename, figure_title):
 
         self._add_figure(name=filename, figure=figure, title=figure_title)
 
-    def plot_gnss_heading_measurements(self):
+    def plot_gnss_attitude_measurements(self):
         """!
-        @brief Generate time series plots for GNSS heading (degrees) and baseline distance (meters) data.
+        @brief Generate time series plots for GNSS attitude (degrees) and baseline distance (meters) data.
         """
         if self.output_dir is None:
             return
 
-        # Read the heading measurement data.
-        result = self.reader.read(message_types=[RawGNSSHeadingOutput, GNSSHeadingOutput], **self.params)
-        raw_heading_data = result[RawGNSSHeadingOutput.MESSAGE_TYPE]
-        heading_data = result[GNSSHeadingOutput.MESSAGE_TYPE]
+        # Read the attitude measurement data.
+        result = self.reader.read(message_types=[RawGNSSAttitudeOutput, GNSSAttitudeOutput], **self.params)
+        raw_heading_data = result[RawGNSSAttitudeOutput.MESSAGE_TYPE]
+        heading_data = result[GNSSAttitudeOutput.MESSAGE_TYPE]
 
         if (len(heading_data.p1_time) == 0) and (len(raw_heading_data.p1_time) == 0):
-            self.logger.info('No GNSS heading measurement data available. Skipping plot.')
+            self.logger.info('No GNSS attitude measurement data available. Skipping plot.')
             return
 
-        # Note that we read the pose data after heading, that way we don't bother reading pose data from disk if there's
-        # no heading data in the log.
+        # Note that we read the pose data after attitude, that way we don't bother reading pose data from disk if
+        # there's no heading data in the log.
         result = self.reader.read(message_types=[PoseMessage], source_ids=self.default_source_id, **self.params)
         primary_pose_data = result[PoseMessage.MESSAGE_TYPE]
 
@@ -2187,7 +2187,7 @@ def plot_gnss_heading_measurements(self):
                 row=3, col=1
             )
 
-        self._add_figure(name='gnss_heading_measurement', figure=fig, title='Measurements: GNSS Heading')
+        self._add_figure(name='gnss_attitude_measurement', figure=fig, title='Measurements: GNSS Attitude')
 
     def plot_system_status_profiling(self):
         """!
@@ -3001,9 +3001,9 @@ def main(args=None):
         analyzer.plot_gnss_corrections_status()
         analyzer.plot_dop()
 
-        # By default, we always plot heading measurements (i.e., output from a secondary heading device like an
+        # By default, we always plot attitude measurements (i.e., output from a secondary GNSS attitude sensor like an
         # LG69T-AH), separate from other sensor measurements controlled by --measurements.
-        analyzer.plot_gnss_heading_measurements()
+        analyzer.plot_gnss_attitude_measurements()
 
         if truth_lla_deg is not None:
             analyzer.plot_stationary_position_error(truth_lla_deg)
diff --git a/python/fusion_engine_client/messages/defs.py b/python/fusion_engine_client/messages/defs.py
index 49429d9d..23bd6904 100644
--- a/python/fusion_engine_client/messages/defs.py
+++ b/python/fusion_engine_client/messages/defs.py
@@ -99,9 +99,9 @@ class MessageType(IntEnum):
 
     # Sensor measurement messages.
     IMU_OUTPUT = 11000
-    RAW_GNSS_HEADING_OUTPUT = 11001
+    RAW_GNSS_ATTITUDE_OUTPUT = 11001
     RAW_IMU_OUTPUT = 11002
-    GNSS_HEADING_OUTPUT = 11003
+    GNSS_ATTITUDE_OUTPUT = 11003
     IMU_INPUT = 11004
 
     # Vehicle measurement messages.
diff --git a/python/fusion_engine_client/messages/measurements.py b/python/fusion_engine_client/messages/measurements.py
index ac6dd533..bf831924 100644
--- a/python/fusion_engine_client/messages/measurements.py
+++ b/python/fusion_engine_client/messages/measurements.py
@@ -1169,11 +1169,11 @@ def to_numpy(cls, messages):
 ################################################################################
 
 
-class GNSSHeadingOutput(MessagePayload):
+class GNSSAttitudeOutput(MessagePayload):
     """!
-    @brief Multi-antenna GNSS heading sensor measurement output with offset corrections applied.
+    @brief Multi-antenna GNSS attitude sensor measurement output with offset corrections applied.
     """
-    MESSAGE_TYPE = MessageType.GNSS_HEADING_OUTPUT
+    MESSAGE_TYPE = MessageType.GNSS_ATTITUDE_OUTPUT
     MESSAGE_VERSION = 0
 
     _STRUCT = struct.Struct('<B3xL3ff')
@@ -1249,7 +1249,7 @@ def __repr__(self):
 
     def __str__(self):
         return f"""\
-GNSS Heading Output @ {str(self.details.p1_time)}
+GNSS Attitude Output @ {str(self.details.p1_time)}
   Solution Type: {self.solution_type}
   YPR (ENU) (deg): {self.ypr_deg[0]:.2f}, {self.ypr_deg[1]:.2f}, {self.ypr_deg[2]:.2f}
   Heading (deg): {self.heading_true_north_deg:.2f}"""
@@ -1259,7 +1259,7 @@ def calcsize(cls) -> int:
         return cls._STRUCT.size + MeasurementDetails.calcsize()
 
     @classmethod
-    def to_numpy(cls, messages: Sequence['GNSSHeadingOutput']):
+    def to_numpy(cls, messages: Sequence['GNSSAttitudeOutput']):
         result = {
             'solution_type': np.array([int(m.solution_type) for m in messages], dtype=int),
             'flags': np.array([int(m.flags) for m in messages], dtype=np.uint32),
@@ -1270,11 +1270,11 @@ def to_numpy(cls, messages: Sequence['GNSSHeadingOutput']):
         return result
 
 
-class RawGNSSHeadingOutput(MessagePayload):
+class RawGNSSAttitudeOutput(MessagePayload):
     """!
-    @brief Raw (uncorrected) GNSS heading sensor measurement output.
+    @brief Raw (uncorrected) GNSS attitude sensor measurement output.
     """
-    MESSAGE_TYPE = MessageType.RAW_GNSS_HEADING_OUTPUT
+    MESSAGE_TYPE = MessageType.RAW_GNSS_ATTITUDE_OUTPUT
     MESSAGE_VERSION = 0
 
     _STRUCT = struct.Struct('<B3xL3f3fff')
@@ -1283,7 +1283,7 @@ def __init__(self):
         ## Measurement timestamps, if available. See @ref measurement_messages.
         self.details = MeasurementDetails()
 
-        ## Set to @ref SolutionType::RTKFixed when heading is available, or @ref SolutionType::Invalid otherwise.
+        ## Set to @ref SolutionType::RTKFixed when attitude is available, or @ref SolutionType::Invalid otherwise.
         self.solution_type = SolutionType.Invalid
         ## A bitmask of flags associated with the solution.
         self.flags = 0
@@ -1367,7 +1367,7 @@ def __repr__(self):
 
     def __str__(self):
         return f"""\
-Raw GNSS Heading Output @ {str(self.details.p1_time)}
+Raw GNSS Attitude Output @ {str(self.details.p1_time)}
   Solution Type: {self.solution_type}
   Relative position (ENU) (m): {self.relative_position_enu_m[0]:.2f}, {self.relative_position_enu_m[1]:.2f}, {self.relative_position_enu_m[2]:.2f}
   Position std (ENU) (m): {self.position_std_enu_m[0]:.2f}, {self.position_std_enu_m[1]:.2f}, {self.position_std_enu_m[2]:.2f}
@@ -1379,7 +1379,7 @@ def calcsize(cls) -> int:
         return cls._STRUCT.size + MeasurementDetails.calcsize()
 
     @classmethod
-    def to_numpy(cls, messages: Sequence['RawGNSSHeadingOutput']):
+    def to_numpy(cls, messages: Sequence['RawGNSSAttitudeOutput']):
         result = {
             'solution_type': np.array([int(m.solution_type) for m in messages], dtype=int),
             'flags': np.array([int(m.flags) for m in messages], dtype=np.uint32),
diff --git a/python/fusion_engine_client/messages/solution.py b/python/fusion_engine_client/messages/solution.py
index c607ebc5..e6b910be 100644
--- a/python/fusion_engine_client/messages/solution.py
+++ b/python/fusion_engine_client/messages/solution.py
@@ -818,7 +818,7 @@ class RelativeENUPositionMessage(MessagePayload):
     This message represents the relationship between the navigation engine's
     position solution and a nearby RTK base station. It is not used to convey
     unfiltered vehicle body orientation measurements generated using multiple
-    GNSS antennas. See @ref GNSSHeadingOutput instead.
+    GNSS antennas. See @ref GNSSAttitudeOutput instead.
     """
     MESSAGE_TYPE = MessageType.RELATIVE_ENU_POSITION
     MESSAGE_VERSION = 0
diff --git a/src/point_one/fusion_engine/messages/configuration.h b/src/point_one/fusion_engine/messages/configuration.h
index b3bb010f..042160d6 100644
--- a/src/point_one/fusion_engine/messages/configuration.h
+++ b/src/point_one/fusion_engine/messages/configuration.h
@@ -1222,7 +1222,7 @@ struct P1_ALIGNAS(4) HardwareTickConfig {
  * If one value is NOT set, the system will not output the corrected
  * heading message.
  *
- * @ref GNSSHeadingOutput
+ * @ref GNSSAttitudeOutput
  */
 struct P1_ALIGNAS(4) HeadingBias {
   /**
diff --git a/src/point_one/fusion_engine/messages/defs.h b/src/point_one/fusion_engine/messages/defs.h
index 7e7df482..bcf22dd1 100644
--- a/src/point_one/fusion_engine/messages/defs.h
+++ b/src/point_one/fusion_engine/messages/defs.h
@@ -47,9 +47,10 @@ enum class MessageType : uint16_t {
 
   // Sensor measurement messages.
   IMU_OUTPUT = 11000, ///< @ref IMUOutput
-  RAW_GNSS_HEADING_OUTPUT = 11001, ///< @ref RawGNSSHeadingOutput
+  RAW_GNSS_ATTITUDE_OUTPUT = 11001, ///< @ref RawGNSSAttitudeOutput
   RAW_IMU_OUTPUT = 11002, ///< @ref RawIMUOutput
-  GNSS_HEADING_OUTPUT = 11003, ///< @ref GNSSHeadingOutput
+  // TODO Change the numbers
+  GNSS_ATTITUDE_OUTPUT = 11003, ///< @ref GNSSAttitudeOutput
   IMU_INPUT = 11004, ///< @ref IMUInput
 
   // Vehicle measurement messages.
@@ -151,14 +152,14 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
     case MessageType::IMU_OUTPUT:
       return "IMU Output";
 
-    case MessageType::RAW_GNSS_HEADING_OUTPUT:
-      return "Raw GNSS Heading Output";
+    case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:
+      return "Raw GNSS Attitude Output";
 
     case MessageType::RAW_IMU_OUTPUT:
       return "Raw IMU Output";
 
-    case MessageType::GNSS_HEADING_OUTPUT:
-      return "GNSS Heading Output";
+    case MessageType::GNSS_ATTITUDE_OUTPUT:
+      return "GNSS Attitude Output";
 
     case MessageType::IMU_INPUT:
       return "IMU Input";
@@ -330,9 +331,9 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::RELATIVE_ENU_POSITION:
     case MessageType::SYSTEM_STATUS:
     case MessageType::IMU_OUTPUT:
-    case MessageType::RAW_GNSS_HEADING_OUTPUT:
+    case MessageType::RAW_GNSS_ATTITUDE_OUTPUT:
     case MessageType::RAW_IMU_OUTPUT:
-    case MessageType::GNSS_HEADING_OUTPUT:
+    case MessageType::GNSS_ATTITUDE_OUTPUT:
     case MessageType::IMU_INPUT:
     case MessageType::DEPRECATED_WHEEL_SPEED_MEASUREMENT:
     case MessageType::DEPRECATED_VEHICLE_SPEED_MEASUREMENT:
diff --git a/src/point_one/fusion_engine/messages/measurements.h b/src/point_one/fusion_engine/messages/measurements.h
index 22b1e113..d7f74bb0 100644
--- a/src/point_one/fusion_engine/messages/measurements.h
+++ b/src/point_one/fusion_engine/messages/measurements.h
@@ -1134,20 +1134,20 @@ struct P1_ALIGNAS(4) DeprecatedVehicleSpeedMeasurement : public MessagePayload {
 };
 
 ////////////////////////////////////////////////////////////////////////////////
-// Heading Sensor Definitions
+// Attitude Sensor Definitions
 ////////////////////////////////////////////////////////////////////////////////
 
 /**
- * @brief Multi-antenna GNSS heading sensor measurement output with offset
- *        corrections applied (@ref MessageType::GNSS_HEADING_OUTPUT, version
+ * @brief Multi-antenna GNSS attitude sensor measurement output with offset
+ *        corrections applied (@ref MessageType::GNSS_ATTITUDE_OUTPUT, version
  *        1.0).
  * @ingroup measurement_messages
  *
- * This message is an output from the device contaning heading/orientation
- * measurements generated using multiple GNSS antennas/receivers. On supported
- * devices, the device will measure vehicle yaw (heading) and pitch based on the
- * relative positions of two GNSS antennas. When more than two antennas are
- * present, the device may additionally measure roll angle.
+ * This message is an output from the device contaning orientation measurements
+ * generated using multiple GNSS antennas/receivers. On supported devices, the
+ * device will measure vehicle yaw (heading) and pitch based on the relative
+ * positions of two GNSS antennas. When more than two antennas are present, the
+ * device may additionally measure roll angle.
  *
  * @note
  * This message contains vehicle body angle measurements generated from GNSS
@@ -1157,10 +1157,10 @@ struct P1_ALIGNAS(4) DeprecatedVehicleSpeedMeasurement : public MessagePayload {
  *
  * The measurements in this message have user-specified corrections applied for
  * the horizontal and vertical offsets between the two GNSS antennas. See also
- * @ref RawGNSSHeadingOutput.
+ * @ref RawGNSSAttitudeOutput.
  */
-struct P1_ALIGNAS(4) GNSSHeadingOutput : public MessagePayload {
-  static constexpr MessageType MESSAGE_TYPE = MessageType::GNSS_HEADING_OUTPUT;
+struct P1_ALIGNAS(4) GNSSAttitudeOutput : public MessagePayload {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::GNSS_ATTITUDE_OUTPUT;
   static constexpr uint8_t MESSAGE_VERSION = 0;
 
   /**
@@ -1205,8 +1205,8 @@ struct P1_ALIGNAS(4) GNSSHeadingOutput : public MessagePayload {
 };
 
 /**
- * @brief Raw (uncorrected) GNSS heading sensor measurement output (@ref
- *        MessageType::RAW_GNSS_HEADING_OUTPUT, version 1.0).
+ * @brief Raw (uncorrected) GNSS attitude sensor measurement output (@ref
+ *        MessageType::RAW_GNSS_ATTITUDE_OUTPUT, version 1.0).
  * @ingroup measurement_messages
  *
  * This message is an output from the device contaning raw orientation
@@ -1216,11 +1216,11 @@ struct P1_ALIGNAS(4) GNSSHeadingOutput : public MessagePayload {
  * secondary GNSS antenna.
  *
  * For vehicle body angle measurements, and for measurements corrected for
- * horizontal/vertical offsets, see @ref GNSSHeadingOutput.
+ * horizontal/vertical offsets, see @ref GNSSAttitudeOutput.
  */
-struct P1_ALIGNAS(4) RawGNSSHeadingOutput : public MessagePayload {
+struct P1_ALIGNAS(4) RawGNSSAttitudeOutput : public MessagePayload {
   static constexpr MessageType MESSAGE_TYPE =
-      MessageType::RAW_GNSS_HEADING_OUTPUT;
+      MessageType::RAW_GNSS_ATTITUDE_OUTPUT;
   static constexpr uint8_t MESSAGE_VERSION = 0;
 
   /**
diff --git a/src/point_one/fusion_engine/messages/solution.h b/src/point_one/fusion_engine/messages/solution.h
index 956da115..f66422d8 100644
--- a/src/point_one/fusion_engine/messages/solution.h
+++ b/src/point_one/fusion_engine/messages/solution.h
@@ -507,7 +507,7 @@ struct P1_ALIGNAS(4) CalibrationStatusMessage : public MessagePayload {
  * This message represents the relationship between the navigation engine's
  * position solution and a nearby RTK base station. It is not used to convey
  * unfiltered vehicle body orientation measurements generated using multiple
- * GNSS antennas. See @ref GNSSHeadingOutput instead.
+ * GNSS antennas. See @ref GNSSAttitudeOutput instead.
  */
 struct P1_ALIGNAS(4) RelativeENUPositionMessage : public MessagePayload {
   static constexpr MessageType MESSAGE_TYPE =