diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
index 2add7a5cb4..441c05179b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
@@ -49,3 +49,9 @@ param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
 param set-default NAV_DLL_ACT 2
+
+# DEBUGGING: ekf range fusion
+# default, ekf replay, cv+avoid, high rate sensors
+param set-default SDLOG_PROFILE 2179
+# sim distance on ground
+param set-default EKF2_MIN_RNG 0.177
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp
index 0e7178c253..35cfd1cfdb 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/jake_range_height_control.cpp
@@ -69,7 +69,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 	// Set all of the parameters
 	_range_sensor.setPitchOffset(_params.ekf2_rng_pitch);
 	_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
-	_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
+	_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
 
 	// Update sensor to earth rotation
 	_range_sensor.updateSensorToEarthRotation(_R_to_earth);
@@ -110,9 +110,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 
 	// TODO: refactor into apply_body_offset()
 	// Correct the range data for position offset relative to the IMU
-	const Vector3f rng_pos_body = { _params.ekf2_rng_pos_x, _params.ekf2_rng_pos_y, _params.ekf2_rng_pos_z };
-	const Vector3f imu_pos_body = _params.imu_pos_body;
-	const Vector3f pos_offset_body = rng_pos_body - imu_pos_body;
+	const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
 	const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
 	sample.rng = sample.rng + pos_offset_earth(2) / _range_sensor.getCosTilt();
 
@@ -146,7 +144,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 
 	// Fuse Range data as Primary height source
 	// NOTE: terrain is not estimated in this mode
-	if (_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) {
+	if (_params.ekf2_hgt_ref == static_cast<int32_t>(HeightSensor::RANGE)) {
 		fuseRangeAsHeightSource();
 	} else {
 		// Fuse Range data as aiding height source (Primary GPS or Baro)
@@ -193,8 +191,8 @@ void Ekf::fuseRangeAsHeightAiding()
 
 	//// ALTITUDE FUSION ////
 
-	bool range_aid_conditional = _params.rng_ctrl == RngCtrl::CONDITIONAL;
-	bool range_aid_enabled = _params.rng_ctrl == RngCtrl::ENABLED;
+	bool range_aid_conditional = (RngCtrl)_params.ekf2_rng_ctrl == RngCtrl::CONDITIONAL;
+	bool range_aid_enabled = (RngCtrl)_params.ekf2_rng_ctrl == RngCtrl::ENABLED;
 
 	bool range_aid_conditions_passed = rangeAidConditionsPassed();
 
@@ -366,7 +364,7 @@ void Ekf::updateRangeHagl(estimator_aid_source1d_s &aid_src)
 	float innovation_variance;
 	sym::ComputeHaglInnovVar(P, measurement_variance, &innovation_variance);
 
-	const float innov_gate = math::max(_params.range_innov_gate, 1.f);
+	const float innov_gate = math::max(_params.ekf2_rng_gate, 1.f);
 	updateAidSourceStatus(aid_src,
 			      _range_sensor.sample()->time_us, // sample timestamp
 			      measurement,                               // observation
@@ -387,7 +385,7 @@ void Ekf::updateRangeHagl(estimator_aid_source1d_s &aid_src)
 float Ekf::getRngVar() const
 {
 	const float dist_dependant_var = sq(_params.ekf2_rng_sfe * _range_sensor.getDistBottom());
-	const float dist_var = sq(_params.range_noise) + dist_dependant_var;
+	const float dist_var = sq(_params.ekf2_rng_noise) + dist_dependant_var;
 	return dist_var;
 }
 
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 3f5c1bad84..3fcf7e1d96 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -162,7 +162,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_pitch(_params->ekf2_rng_pitch),
 	_param_ekf2_rng_a_vmax(_params->ekf2_rng_a_vmax),
 	_param_ekf2_rng_a_hmax(_params->ekf2_rng_a_hmax),
-	_param_ekf2_rng_qlty_t(_params->ekf2_rng_qlty_t),
 	_param_ekf2_rng_k_gate(_params->ekf2_rng_k_gate),
 	_param_ekf2_rng_fog(_params->ekf2_rng_fog),
 	_param_ekf2_rng_pos_x(_params->rng_pos_body(0)),
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index c95e3c3623..980777804a 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -621,7 +621,6 @@ private:
 		(ParamExtFloat<px4::params::EKF2_RNG_PITCH>) _param_ekf2_rng_pitch,
 		(ParamExtFloat<px4::params::EKF2_RNG_A_VMAX>) _param_ekf2_rng_a_vmax,
 		(ParamExtFloat<px4::params::EKF2_RNG_A_HMAX>) _param_ekf2_rng_a_hmax,
-		(ParamExtFloat<px4::params::EKF2_RNG_QLTY_T>) _param_ekf2_rng_qlty_t,
 		(ParamExtFloat<px4::params::EKF2_RNG_K_GATE>) _param_ekf2_rng_k_gate,
 		(ParamExtFloat<px4::params::EKF2_RNG_FOG>) _param_ekf2_rng_fog,
 		(ParamExtFloat<px4::params::EKF2_RNG_POS_X>) _param_ekf2_rng_pos_x,