diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
index d4f32aacb1..03cdfec169 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
@@ -70,22 +70,22 @@ bool EkfWrapper::isIntendingRangeHeightFusion() const
 	return _ekf->control_status_flags().rng_hgt;
 }
 
-void EkfWrapper::setVisionHeightRef()
+void EkfWrapper::setExternalVisionHeightRef()
 {
 	_ekf_params->height_sensor_ref |= HeightSensorRef::EV;
 }
 
-void EkfWrapper::enableVisionHeightFusion()
+void EkfWrapper::enableExternalVisionHeightFusion()
 {
 	_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_HGT;
 }
 
-void EkfWrapper::disableVisionHeightFusion()
+void EkfWrapper::disableExternalVisionHeightFusion()
 {
 	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_HGT;
 }
 
-bool EkfWrapper::isIntendingVisionHeightFusion() const
+bool EkfWrapper::isIntendingExternalVisionHeightFusion() const
 {
 	return _ekf->control_status_flags().ev_hgt;
 }
diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
index 633fd0a0ce..4e2cc95ae7 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
@@ -64,10 +64,10 @@ public:
 	void disableRangeHeightFusion();
 	bool isIntendingRangeHeightFusion() const;
 
-	void setVisionHeightRef();
-	void enableVisionHeightFusion();
-	void disableVisionHeightFusion();
-	bool isIntendingVisionHeightFusion() const;
+	void setExternalVisionHeightRef();
+	void enableExternalVisionHeightFusion();
+	void disableExternalVisionHeightFusion();
+	bool isIntendingExternalVisionHeightFusion() const;
 
 	void enableGpsFusion();
 	void disableGpsFusion();
diff --git a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
index c0327abe92..26b13a988e 100644
--- a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
+++ b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
@@ -465,12 +465,12 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
 TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
 {
 	// WHEN: commanding vision height and sending vision data
-	_ekf_wrapper.enableVisionHeightFusion();
+	_ekf_wrapper.enableExternalVisionHeightFusion();
 	_sensor_simulator.startExternalVision();
 	_sensor_simulator.runSeconds(2);
 
 	// THEN: EKF should intend to fuse vision height
-	EXPECT_TRUE(_ekf_wrapper.isIntendingVisionHeightFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());
 
 	// WHEN: stop sending vision data
 	_sensor_simulator.stopExternalVision();
@@ -478,6 +478,6 @@ TEST_F(EkfFusionLogicTest, doVisionHeightFusion)
 
 	// THEN: EKF should stop to intend to use vision height
 
-	EXPECT_FALSE(_ekf_wrapper.isIntendingVisionHeightFusion());
+	EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
 }