diff --git a/EKF/ekf.h b/EKF/ekf.h
index 7556759cc9..7b67ca00ff 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -380,7 +380,7 @@ private:
 	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
 	bool _synthetic_mag_z_active{false};	///< true if we are generating synthetic magnetometer Z measurements
 
-	bool _yaw_use_inhibit{false};		///< true when yaw sensor use is being inhibited
+	bool _is_yaw_fusion_inhibited{false};		///< true when yaw sensor use is being inhibited
 
 	SquareMatrix24f P;	///< state covariance matrix
 
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 6ab5373e66..d93588f357 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -518,7 +518,7 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
 			yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
 		}
 
-	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _yaw_use_inhibit) {
+	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _is_yaw_fusion_inhibited) {
 		// we are operating temporarily without knowing the earth frame yaw angle
 		return true;
 
diff --git a/EKF/mag_control.cpp b/EKF/mag_control.cpp
index b6230768b3..43027d318e 100644
--- a/EKF/mag_control.cpp
+++ b/EKF/mag_control.cpp
@@ -52,7 +52,7 @@ void Ekf::controlMagFusion()
 	if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
 		if (noOtherYawAidingThanMag())
 		{
-			_yaw_use_inhibit = true;
+			_is_yaw_fusion_inhibited = true;
 			fuseHeading();
 		}
 		return;
@@ -156,7 +156,7 @@ void Ekf::runOnGroundYawReset()
 
 bool Ekf::isYawResetAuthorized() const
 {
-	return !_yaw_use_inhibit;
+	return !_is_yaw_fusion_inhibited;
 }
 
 bool Ekf::canResetMagHeading() const
@@ -268,8 +268,8 @@ void Ekf::checkMagDeclRequired()
 
 void Ekf::checkMagInhibition()
 {
-	_yaw_use_inhibit = shouldInhibitMag();
-	if (!_yaw_use_inhibit) {
+	_is_yaw_fusion_inhibited = shouldInhibitMag();
+	if (!_is_yaw_fusion_inhibited) {
 		_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
 	}
 
diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 32224d7060..9ca549ca49 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -784,7 +784,7 @@ void Ekf::fuseHeading()
 
 		// handle special case where yaw measurement is unavailable
 		bool fuse_zero_innov = false;
-		if (_yaw_use_inhibit) {
+		if (_is_yaw_fusion_inhibited) {
 			// The yaw measurement cannot be trusted but we need to fuse something to prevent a badly
 			// conditioned covariance matrix developing over time.
 			if (!_control_status.flags.vehicle_at_rest) {
@@ -851,7 +851,7 @@ void Ekf::fuseHeading()
 
 		// handle special case where yaw measurement is unavailable
 		bool fuse_zero_innov = false;
-		if (_yaw_use_inhibit) {
+		if (_is_yaw_fusion_inhibited) {
 			// The yaw measurement cannot be trusted but we need to fuse something to prevent a badly
 			// conditioned covariance matrix developing over time.
 			if (!_control_status.flags.vehicle_at_rest) {