diff --git a/bin/render.cpp b/bin/render.cpp
index 47a25af0394..21b1e78882a 100644
--- a/bin/render.cpp
+++ b/bin/render.cpp
@@ -37,7 +37,7 @@ int main(int argc, char* argv[]) {
     args::ValueFlag<double> fovValue(argumentParser, "degrees", "FOV", {'f', "fov"});
     args::ValueFlag<double> bearingValue(argumentParser, "degrees", "Bearing", {'b', "bearing"});
     args::ValueFlag<double> pitchValue(argumentParser, "degrees", "Pitch", {'p', "pitch"});
-    args::ValueFlag<double> twistValue(argumentParser, "degrees", "Twist", {'T', "twist"});
+    args::ValueFlag<double> rollValue(argumentParser, "degrees", "Roll", {'T', "roll"});
     args::ValueFlag<uint32_t> widthValue(argumentParser, "pixels", "Image width", {'w', "width"});
     args::ValueFlag<uint32_t> heightValue(argumentParser, "pixels", "Image height", {'h', "height"});
 
@@ -63,7 +63,7 @@ int main(int argc, char* argv[]) {
     const double fov = fovValue ? args::get(fovValue) : 37;
     const double bearing = bearingValue ? args::get(bearingValue) : 0;
     const double pitch = pitchValue ? args::get(pitchValue) : 0;
-    const double twist = twistValue ? args::get(twistValue) : 0;
+    const double roll = rollValue ? args::get(rollValue) : 0;
     const double pixelRatio = pixelRatioValue ? args::get(pixelRatioValue) : 1;
 
     const uint32_t width = widthValue ? args::get(widthValue) : 512;
@@ -103,7 +103,7 @@ int main(int argc, char* argv[]) {
     }
 
     map.getStyle().loadURL(style);
-    map.jumpTo(CameraOptions().withCenter(LatLng{lat, lon}).withAlt(alt).withZoom(zoom).withBearing(bearing).withPitch(pitch).withTwist(twist).withFov(fov));
+    map.jumpTo(CameraOptions().withCenter(LatLng{lat, lon}).withAlt(alt).withZoom(zoom).withBearing(bearing).withPitch(pitch).withRoll(roll).withFov(fov));
 
     if (debug) {
         map.setDebug(debug ? mbgl::MapDebugOptions::TileBorders | mbgl::MapDebugOptions::ParseStatus
diff --git a/include/mbgl/map/camera.hpp b/include/mbgl/map/camera.hpp
index 22352197f05..3cdb136a6fa 100644
--- a/include/mbgl/map/camera.hpp
+++ b/include/mbgl/map/camera.hpp
@@ -45,8 +45,8 @@ struct CameraOptions {
         pitch = o;
         return *this;
     }
-    CameraOptions& withTwist(const std::optional<double>& o) {
-        twist = o;
+    CameraOptions& withRoll(const std::optional<double>& o) {
+        roll = o;
         return *this;
     }
     CameraOptions& withFov(const std::optional<double>& o) {
@@ -78,13 +78,13 @@ struct CameraOptions {
         two-dimensional map. */
     std::optional<double> pitch;
 
-    std::optional<double> twist;
+    std::optional<double> roll;
     std::optional<double> fov;
 };
 
 constexpr bool operator==(const CameraOptions& a, const CameraOptions& b) {
     return a.center == b.center && a.padding == b.padding && a.anchor == b.anchor && a.zoom == b.zoom &&
-           a.bearing == b.bearing && a.pitch == b.pitch && a.twist == b.twist && a.fov == b.fov && a.altM == b.altM;
+           a.bearing == b.bearing && a.pitch == b.pitch && a.roll == b.roll && a.fov == b.fov && a.altM == b.altM;
 }
 
 constexpr bool operator!=(const CameraOptions& a, const CameraOptions& b) {
@@ -170,7 +170,7 @@ struct FreeCameraOptions {
 
     /** Helper function for setting the orientation of the camera as a pitch and
        a bearing. Both values are in degrees */
-    void setPitchBearing(double pitch, double bearing, double twist) noexcept;
+    void setPitchBearing(double pitch, double bearing, double roll) noexcept;
 };
 
 } // namespace mbgl
diff --git a/src/mbgl/map/transform.cpp b/src/mbgl/map/transform.cpp
index 7c2df9bde41..256d06c7e66 100644
--- a/src/mbgl/map/transform.cpp
+++ b/src/mbgl/map/transform.cpp
@@ -102,7 +102,7 @@ void Transform::easeTo(const CameraOptions& camera, const AnimationOptions& anim
     double pitch = camera.pitch ? util::deg2rad(*camera.pitch) : getPitch();
     double fov = camera.fov ? util::deg2rad(*camera.fov) : getFieldOfView();
     double alt_m = camera.altM.value_or(100000);
-    double twist = camera.twist ? util::deg2rad(*camera.twist) : getTwist();
+    double roll = camera.roll ? util::deg2rad(*camera.roll) : getRoll();
 
     if (std::isnan(zoom) || std::isnan(bearing) || std::isnan(pitch)) {
         if (animation.transitionFinishFn) {
@@ -169,7 +169,7 @@ void Transform::easeTo(const CameraOptions& camera, const AnimationOptions& anim
             }
             state.setFieldOfView(fov);
             state.setAltM(alt_m);
-            state.setTwist(twist);
+            state.setRoll(roll);
         },
         duration);
 }
@@ -436,8 +436,8 @@ double Transform::getPitch() const {
     return state.getPitch();
 }
 
-double Transform::getTwist() const {
-    return state.getTwist();
+double Transform::getRoll() const {
+    return state.getRoll();
 }
 
 double Transform::getFieldOfView() const {
diff --git a/src/mbgl/map/transform.hpp b/src/mbgl/map/transform.hpp
index 592b404191b..a8b6acd2835 100644
--- a/src/mbgl/map/transform.hpp
+++ b/src/mbgl/map/transform.hpp
@@ -77,7 +77,7 @@ class Transform : private util::noncopyable {
     // Pitch
 
     double getPitch() const;
-    double getTwist() const;
+    double getRoll() const;
     double getFieldOfView() const;
 
     // North Orientation
diff --git a/src/mbgl/map/transform_state.cpp b/src/mbgl/map/transform_state.cpp
index 2eaf0e6f3b4..d8d7daf4d75 100644
--- a/src/mbgl/map/transform_state.cpp
+++ b/src/mbgl/map/transform_state.cpp
@@ -62,8 +62,8 @@ void TransformState::setProperties(const TransformStateProperties& properties) {
     if (properties.pitch) {
         setPitch(*properties.pitch);
     }
-    if (properties.twist) {
-        setTwist(*properties.twist);
+    if (properties.roll) {
+        setRoll(*properties.roll);
     }
     if (properties.xSkew) {
         setXSkew(*properties.xSkew);
@@ -214,7 +214,7 @@ void TransformState::updateCameraState() const {
     const double dy = 0.5 * worldSize - y;
 
     // Set camera orientation and move it to a proper distance from the map
-    camera.setOrientation(pitch, getBearing(), getTwist());
+    camera.setOrientation(pitch, getBearing(), getRoll());
 
     vec3 cameraPosition = {{dx, dy, z}};
 
@@ -237,8 +237,8 @@ void TransformState::updateStateFromCamera() {
     // Compute bearing and pitch
     double newBearing;
     double newPitch;
-    double newTwist;
-    camera.getOrientation(newPitch, newBearing, newTwist);
+    double newRoll;
+    camera.getOrientation(newPitch, newBearing, newRoll);
     newPitch = util::clamp(newPitch, minPitch, maxPitch);
 
     // Compute zoom level from the camera altitude
@@ -253,7 +253,7 @@ void TransformState::updateStateFromCamera() {
     setLatLngZoom(latLngFromMercator(mercatorPoint), scaleZoom(newScale));
     setBearing(newBearing);
     setPitch(newPitch);
-    setTwist(newTwist);
+    setRoll(newRoll);
 }
 
 FreeCameraOptions TransformState::getFreeCameraOptions() const {
@@ -437,7 +437,7 @@ CameraOptions TransformState::getCameraOptions(const std::optional<EdgeInsets>&
         .withZoom(getZoom())
         .withBearing(util::rad2deg(-bearing))
         .withPitch(util::rad2deg(pitch))
-        .withTwist(util::rad2deg(twist))
+        .withRoll(util::rad2deg(roll))
         .withFov(util::rad2deg(fov));
 }
 
@@ -621,13 +621,13 @@ void TransformState::setFieldOfView(double val) {
     }
 }
 
-double TransformState::getTwist() const {
-    return twist;
+double TransformState::getRoll() const {
+    return roll;
 }
 
-void TransformState::setTwist(double val) {
-    if (twist != val) {
-        twist = val;
+void TransformState::setRoll(double val) {
+    if (roll != val) {
+        roll = val;
         requestMatricesUpdate = true;
     }
 }
diff --git a/src/mbgl/map/transform_state.hpp b/src/mbgl/map/transform_state.hpp
index c602a08e09b..4e4ac583379 100644
--- a/src/mbgl/map/transform_state.hpp
+++ b/src/mbgl/map/transform_state.hpp
@@ -49,8 +49,8 @@ struct TransformStateProperties {
         pitch = val;
         return *this;
     }
-    TransformStateProperties& withTwist(const std::optional<double>& val) {
-        twist = val;
+    TransformStateProperties& withRoll(const std::optional<double>& val) {
+        roll = val;
         return *this;
     }
     TransformStateProperties& withXSkew(const std::optional<double>& val) {
@@ -105,7 +105,7 @@ struct TransformStateProperties {
     std::optional<double> scale;
     std::optional<double> bearing;
     std::optional<double> pitch;
-    std::optional<double> twist;
+    std::optional<double> roll;
     std::optional<double> xSkew;
     std::optional<double> ySkew;
     std::optional<bool> axonometric;
@@ -195,8 +195,8 @@ class TransformState {
     float getCameraToCenterDistance() const;
     double getPitch() const;
     void setPitch(double);
-    double getTwist() const;
-    void setTwist(double);
+    double getRoll() const;
+    void setRoll(double);
 
     double getXSkew() const;
     void setXSkew(double);
@@ -302,7 +302,7 @@ class TransformState {
     // with: `fov = 2 * arctan((height / 2) / (height * 1.5))`
     double fov = 0.6435011087932844;
     double pitch = 0.0;
-    double twist = 0.0;
+    double roll = 0.0;
     double xSkew = 0.0;
     double ySkew = 1.0;
     bool axonometric = false;
diff --git a/src/mbgl/util/camera.cpp b/src/mbgl/util/camera.cpp
index ea808bffdac..90846ff55c5 100644
--- a/src/mbgl/util/camera.cpp
+++ b/src/mbgl/util/camera.cpp
@@ -65,13 +65,13 @@ static vec3 toMercator(const LatLng& location, double altitudeMeters) noexcept {
              altitudeMeters * pixelsPerMeter / worldSize}};
 }
 
-static Quaternion orientationFromPitchBearing(double pitch, double bearing, double twist) noexcept {
+static Quaternion orientationFromPitchBearing(double pitch, double bearing, double roll) noexcept {
     // Both angles have to be negated to achieve CW rotation around the axis of rotation
     Quaternion rotBearing = Quaternion::fromAxisAngle({{0.0, 0.0, 1.0}}, -bearing);
     Quaternion rotPitch = Quaternion::fromAxisAngle({{1.0, 0.0, 0.0}}, -pitch);
-    Quaternion rotTwist = Quaternion::fromAxisAngle({{0.0, 0.0, 1.0}}, -twist);
+    Quaternion rotRoll = Quaternion::fromAxisAngle({{0.0, 0.0, 1.0}}, -roll);
 
-    return rotBearing.multiply(rotPitch).multiply(rotTwist);
+    return rotBearing.multiply(rotPitch).multiply(rotRoll);
 }
 
 static void updateTransform(mat4& transform, const Quaternion& orientation) noexcept {
@@ -168,17 +168,17 @@ vec3 Camera::up() const noexcept {
     return {{-column[0], -column[1], -column[2]}};
 }
 
-void Camera::getOrientation(double& pitch, double& bearing, double& twist) const noexcept {
+void Camera::getOrientation(double& pitch, double& bearing, double& roll) const noexcept {
     const vec3 f = forward();
     const vec3 r = right();
 
     bearing = std::atan2(-r[1], r[0]);
     pitch = std::atan2(std::sqrt(f[0] * f[0] + f[1] * f[1]), -f[2]);
-    twist = 0; //TODO
+    roll = 0; //TODO
 }
 
-void Camera::setOrientation(double pitch, double bearing, double twist) noexcept {
-    orientation = orientationFromPitchBearing(pitch, bearing, twist);
+void Camera::setOrientation(double pitch, double bearing, double roll) noexcept {
+    orientation = orientationFromPitchBearing(pitch, bearing, roll);
     updateTransform(transform, orientation);
 }
 
@@ -196,9 +196,9 @@ std::optional<Quaternion> Camera::orientationFromFrame(const vec3& forward, cons
 
     const double bearing = std::atan2(-right[1], right[0]);
     const double pitch = std::atan2(std::sqrt(forward[0] * forward[0] + forward[1] * forward[1]), -forward[2]);
-    const double twist = 0; //TODO
+    const double roll = 0; //TODO
 
-    return util::orientationFromPitchBearing(pitch, bearing, twist);
+    return util::orientationFromPitchBearing(pitch, bearing, roll);
 }
 } // namespace util
 
@@ -241,9 +241,9 @@ void FreeCameraOptions::lookAtPoint(const LatLng& location, const std::optional<
     orientation = util::Camera::orientationFromFrame(forward, up)->m;
 }
 
-void FreeCameraOptions::setPitchBearing(double pitch, double bearing, double twist) noexcept {
+void FreeCameraOptions::setPitchBearing(double pitch, double bearing, double roll) noexcept {
     orientation =
-        util::orientationFromPitchBearing(util::deg2rad(pitch), util::deg2rad(bearing), util::deg2rad(twist)).m;
+        util::orientationFromPitchBearing(util::deg2rad(pitch), util::deg2rad(bearing), util::deg2rad(roll)).m;
 }
 
 } // namespace mbgl
diff --git a/src/mbgl/util/camera.hpp b/src/mbgl/util/camera.hpp
index ede6dbc9a56..b4b6d3f7617 100644
--- a/src/mbgl/util/camera.hpp
+++ b/src/mbgl/util/camera.hpp
@@ -25,8 +25,8 @@ class Camera {
     vec3 up() const noexcept;
 
     const Quaternion& getOrientation() const noexcept { return orientation; }
-    void getOrientation(double& pitch, double& bearing, double& twist) const noexcept;
-    void setOrientation(double pitch, double bearing, double twist) noexcept;
+    void getOrientation(double& pitch, double& bearing, double& roll) const noexcept;
+    void setOrientation(double pitch, double bearing, double roll) noexcept;
     void setOrientation(const Quaternion& orientation_) noexcept;
     void setPosition(const vec3& position) noexcept;