diff --git a/src/mpc_controller.cpp b/src/mpc_controller.cpp
index 50a1899..7f79c54 100644
--- a/src/mpc_controller.cpp
+++ b/src/mpc_controller.cpp
@@ -548,8 +548,8 @@ void MpcController::updateInactive(const mrs_msgs::UavState &uav_state, [[maybe_
 
 MpcController::ControlOutput MpcController::updateActive(const mrs_msgs::UavState &uav_state, const mrs_msgs::TrackerCommand &tracker_command) {
 
-  mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
-  mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+  mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+  mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("MpcController::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
 
   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
 
@@ -1993,7 +1993,7 @@ void MpcController::timerGains(const ros::TimerEvent &event) {
 
   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
   mrs_lib::ScopeTimer timer =
-      mrs_lib::ScopeTimer("MpcController::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+      mrs_lib::ScopeTimer("MpcController::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
 
   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);
diff --git a/src/se3_controller.cpp b/src/se3_controller.cpp
index 5d79594..50cc904 100644
--- a/src/se3_controller.cpp
+++ b/src/se3_controller.cpp
@@ -487,8 +487,8 @@ void Se3Controller::updateInactive(const mrs_msgs::UavState& uav_state, [[maybe_
 
 Se3Controller::ControlOutput Se3Controller::updateActive(const mrs_msgs::UavState& uav_state, const mrs_msgs::TrackerCommand& tracker_command) {
 
-  mrs_lib::Routine    profiler_routine = profiler_.createRoutine("update");
-  mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::update", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+  mrs_lib::Routine    profiler_routine = profiler_.createRoutine("updateActive");
+  mrs_lib::ScopeTimer timer = mrs_lib::ScopeTimer("Se3Controller::updateActive", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
 
   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
 
@@ -1696,7 +1696,7 @@ void Se3Controller::timerGains(const ros::TimerEvent& event) {
 
   mrs_lib::Routine    profiler_routine = profiler_.createRoutine("timerGains", _gain_filtering_rate_, 1.0, event);
   mrs_lib::ScopeTimer timer =
-      mrs_lib::ScopeTimer("Se3Controller::timerHwApiCapabilities", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
+      mrs_lib::ScopeTimer("Se3Controller::timerGains", common_handlers_->scope_timer.logger, common_handlers_->scope_timer.enabled);
 
   auto drs_params = mrs_lib::get_mutexed(mutex_drs_params_, drs_params_);
   auto gains      = mrs_lib::get_mutexed(mutex_gains_, gains_);