diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
index 46a8673b0f..91e2427187 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@@ -73,7 +73,7 @@ param set-default EKF2_PCOEF_YN -0.4
 param set-default EKF2_PCOEF_YP -0.4
 
 param set-default EKF2_RNG_A_VMAX 1.0
-param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_CTRL 0
 param set-default EKF2_RNG_DELAY 55
 param set-default EKF2_RNG_POS_X -0.035
 param set-default EKF2_RNG_POS_Y 0.0
diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index 36370606bc..6a11cbbe05 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -113,21 +113,30 @@ enum HeightSensor : uint8_t {
 	UNKNOWN  = 4
 };
 
+enum GnssCtrl : uint8_t {
+	HPOS  = (1<<0),
+	VPOS  = (1<<1),
+	VEL  = (1<<2),
+	YAW  = (1<<3)
+};
+
+enum RngCtrl : uint8_t {
+	DISABLED    = 0,
+	CONDITIONAL = 1,
+	ENABLED     = 2
+};
+
 enum SensorFusionMask : uint16_t {
 	// Bit locations for fusion_mode
-	USE_GPS          = (1<<0),      ///< set to true to use GPS data
+	/* USE_GPS          = (1<<0),      ///< set to true to use GPS data */
 	USE_OPT_FLOW     = (1<<1),      ///< set to true to use optical flow data
 	INHIBIT_ACC_BIAS = (1<<2),      ///< set to true to inhibit estimation of accelerometer delta velocity bias
 	USE_EXT_VIS_POS  = (1<<3),      ///< set to true to use external vision position data
 	USE_EXT_VIS_YAW  = (1<<4),      ///< set to true to use external vision quaternion data for yaw
 	USE_DRAG         = (1<<5),      ///< set to true to use the multi-rotor drag model to estimate wind
 	ROTATE_EXT_VIS   = (1<<6),      ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
-	USE_GPS_YAW      = (1<<7),      ///< set to true to use GPS yaw data if available
+	/* USE_GPS_YAW      = (1<<7),      ///< set to true to use GPS yaw data if available */
 	USE_EXT_VIS_VEL  = (1<<8),      ///< set to true to use external vision velocity data
-	USE_BARO_HGT     = (1<<9),      ///< set to true to use baro data
-	USE_GPS_HGT      = (1<<10),     ///< set to true to use GPS height data
-	USE_RNG_HGT      = (1<<11),     ///< set to true to use range height data
-	USE_EXT_VIS_HGT  = (1<<12)     ///< set to true to use external vision height data
 };
 
 struct gpsMessage {
@@ -251,9 +260,11 @@ struct parameters {
 	int32_t filter_update_interval_us{10000}; ///< filter update interval in microseconds
 
 	// measurement source control
-	int32_t fusion_mode{SensorFusionMask::USE_GPS |
-			    SensorFusionMask::USE_BARO_HGT};         ///< bitmasked integer that selects which aiding sources will be used
+	int32_t fusion_mode{};         ///< bitmasked integer that selects some aiding sources
 	int32_t height_sensor_ref{HeightSensor::BARO};
+	int32_t baro_ctrl{1};
+	int32_t gnss_ctrl{GnssCtrl::HPOS | GnssCtrl::VEL};
+	int32_t rng_ctrl{RngCtrl::CONDITIONAL};
 	int32_t terrain_fusion_mode{TerrainFusionMask::TerrainFuseRangeFinder |
 				    TerrainFusionMask::TerrainFuseOpticalFlow}; ///< aiding source(s) selection bitmask for the terrain estimator
 
@@ -335,9 +346,8 @@ struct parameters {
 	float rng_sens_pitch{0.0f};             ///< Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis.
 	float range_noise_scaler{0.0f};         ///< scaling from range measurement to noise (m/m)
 	const float vehicle_variance_scaler{0.0f};      ///< gain applied to vehicle height variance used in calculation of height above ground observation variance
-	float max_hagl_for_range_aid{5.0f};     ///< maximum height above ground for which we allow to use the range finder as height source (if range_aid == 1)
-	float max_vel_for_range_aid{1.0f};      ///< maximum ground velocity for which we allow to use the range finder as height source (if range_aid == 1)
-	int32_t range_aid{0};                   ///< allow switching primary height source to range finder if certain conditions are met
+	float max_hagl_for_range_aid{5.0f};     ///< maximum height above ground for which we allow to use the range finder as height source (if rng_control == 1)
+	float max_vel_for_range_aid{1.0f};      ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1)
 	float range_aid_innov_gate{1.0f};       ///< gate size used for innovation consistency checks for range aid fusion
 	float range_valid_quality_s{1.0f};      ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
 	float range_cos_max_tilt{0.7071f};      ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 812517154c..fd099a641e 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -268,7 +268,7 @@ void Ekf::controlExternalVisionFusion()
 			_ev_sample_delayed.pos -= pos_offset_earth;
 
 			// Use an incremental position fusion method for EV position data if GPS is also used
-			if (_params.fusion_mode & SensorFusionMask::USE_GPS) {
+			if (_params.gnss_ctrl & GnssCtrl::HPOS) {
 				_fuse_hpos_as_odom = true;
 
 			} else {
@@ -572,7 +572,7 @@ void Ekf::resetOnGroundMotionForOpticalFlowChecks()
 
 void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_GPS_YAW)
+	if (!(_params.gnss_ctrl & GnssCtrl::YAW)
 	    || _control_status.flags.gps_yaw_fault) {
 
 		stopGpsYawFusion();
@@ -731,7 +731,7 @@ void Ekf::checkHeightSensorRefFallback()
 	}
 }
 
-bool Ekf::isRangeAidSuitable()
+bool Ekf::isConditionalRangeAidSuitable()
 {
 	bool is_range_aid_suitable = false;
 
@@ -764,7 +764,7 @@ bool Ekf::isRangeAidSuitable()
 
 void Ekf::controlBaroHeightFusion()
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_BARO_HGT)) {
+	if (!(_params.baro_ctrl == 1)) {
 		stopBaroHgtFusion();
 		return;
 	}
@@ -812,7 +812,7 @@ void Ekf::controlBaroHeightFusion()
 
 void Ekf::controlGnssHeightFusion()
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_GPS_HGT)) {
+	if (!(_params.gnss_ctrl & GnssCtrl::VPOS)) {
 		stopGpsHgtFusion();
 		return;
 	}
@@ -855,7 +855,7 @@ void Ekf::controlGnssHeightFusion()
 
 void Ekf::controlRangeHeightFusion()
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_RNG_HGT) && (_params.range_aid == 0)) {
+	if (!((_params.rng_ctrl == RngCtrl::CONDITIONAL) || (_params.rng_ctrl == RngCtrl::ENABLED))) {
 		stopRngHgtFusion();
 		return;
 	}
@@ -876,18 +876,13 @@ void Ekf::controlRangeHeightFusion()
 	if (_rng_data_ready) {
 		updateRngHgt(_aid_src_rng_hgt);
 
-		const bool do_range_aid = (_params.range_aid == 1) && isRangeAidSuitable();
+		const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable();
 
-		const bool continuing_conditions_passing = _range_sensor.isDataHealthy() && ((_params.range_aid == 0) || do_range_aid);
+		const bool continuing_conditions_passing = _range_sensor.isDataHealthy() && ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid);
 		const bool starting_conditions_passing = continuing_conditions_passing
 							 && _range_sensor.isRegularlySendingData();
 
 		if (_control_status.flags.rng_hgt) {
-			if (do_range_aid) {
-				// Force to be the height reference
-				_height_sensor_ref = HeightSensorRef::RANGE;
-			}
-
 			if (continuing_conditions_passing) {
 				fuseRngHgt(_aid_src_rng_hgt);
 
@@ -922,7 +917,7 @@ void Ekf::controlRangeHeightFusion()
 
 void Ekf::controlEvHeightFusion()
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_HGT)) {
+	if (!(_params.height_sensor_ref == HeightSensor::EV)) { // TODO: replace by EV control parameter
 		stopEvHgtFusion();
 		return;
 	}
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index b86dde83a6..5cc98fa85e 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -948,8 +948,7 @@ private:
 	void controlRangeHeightFusion();
 	void controlEvHeightFusion();
 
-	// determine if flight condition is suitable to use range finder instead of the primary height sensor
-	bool isRangeAidSuitable();
+	bool isConditionalRangeAidSuitable();
 
 	void stopMagFusion();
 	void stopMag3DFusion();
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 906bebe35d..9155a0772d 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -860,7 +860,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 	const float rangefinder_hagl_max = 0.75f * _range_sensor.getValidMaxVal();
 
 	// TODO : calculate visual odometry limits
-	const bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
+	const bool relying_on_rangefinder = isOnlyActiveSourceOfVerticalPositionAiding(_control_status.flags.rng_hgt);
 	const bool relying_on_optical_flow = isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow);
 
 	// Keep within range sensor limit when using rangefinder as primary height source
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index ea5eed0acd..a2caec8914 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -437,7 +437,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 	float max_time_delay_ms = math::max((float)_params.sensor_interval_max_ms, _params.auxvel_delay_ms);
 
 	// using baro
-	if (_params.fusion_mode & SensorFusionMask::USE_BARO_HGT) {
+	if (_params.baro_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.baro_delay_ms, max_time_delay_ms);
 	}
 
@@ -451,12 +451,12 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
 		max_time_delay_ms = math::max(_params.mag_delay_ms, max_time_delay_ms);
 	}
 
-	// range aid or range height
-	if (_params.range_aid || (_params.fusion_mode & SensorFusionMask::USE_RNG_HGT)) {
+	// using range finder
+	if ((_params.rng_ctrl != RngCtrl::DISABLED)) {
 		max_time_delay_ms = math::max(_params.range_delay_ms, max_time_delay_ms);
 	}
 
-	if (_params.fusion_mode & SensorFusionMask::USE_GPS) {
+	if (_params.gnss_ctrl > 0) {
 		max_time_delay_ms = math::max(_params.gps_delay_ms, max_time_delay_ms);
 	}
 
@@ -539,6 +539,11 @@ bool EstimatorInterface::isVerticalPositionAidingActive() const
 	return getNumberOfActiveVerticalPositionAidingSources() > 0;
 }
 
+bool EstimatorInterface::isOnlyActiveSourceOfVerticalPositionAiding(const bool aiding_flag) const
+{
+	return aiding_flag && !isOtherSourceOfVerticalPositionAidingThan(aiding_flag);
+}
+
 int EstimatorInterface::getNumberOfActiveVerticalPositionAidingSources() const
 {
 	return int(_control_status.flags.gps_hgt)
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index b8bdc97f6b..3bf2fac3cf 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -183,6 +183,7 @@ public:
 
 	bool isOtherSourceOfVerticalPositionAidingThan(bool aiding_flag) const;
 	bool isVerticalPositionAidingActive() const;
+	bool isOnlyActiveSourceOfVerticalPositionAiding(const bool aiding_flag) const;
 	int getNumberOfActiveVerticalPositionAidingSources() const;
 
 	bool isVerticalVelocityAidingActive() const;
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index b9e278c203..8880737bf0 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -41,7 +41,7 @@
 
 void Ekf::controlGpsFusion()
 {
-	if (!(_params.fusion_mode & SensorFusionMask::USE_GPS)) {
+	if (!((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) {
 		stopGpsFusion();
 		return;
 	}
@@ -72,8 +72,13 @@ void Ekf::controlGpsFusion()
 				if (continuing_conditions_passing
 				    || !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
 
-					fuseGpsVel();
-					fuseGpsPos();
+					if (_params.gnss_ctrl & GnssCtrl::VEL) {
+						fuseGpsVel();
+					}
+
+					if ((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VPOS)) {
+						fuseGpsPos();
+					}
 
 					if (shouldResetGpsFusion()) {
 						const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000);
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 4b8e4bd61a..8ecff64938 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -106,7 +106,10 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_req_hdrift(_params->req_hdrift),
 	_param_ekf2_req_vdrift(_params->req_vdrift),
 	_param_ekf2_aid_mask(_params->fusion_mode),
-	_param_ekf2_hgt_mode(_params->height_sensor_ref),
+	_param_ekf2_hgt_ref(_params->height_sensor_ref),
+	_param_ekf2_baro_ctrl(_params->baro_ctrl),
+	_param_ekf2_gps_ctrl(_params->gnss_ctrl),
+	_param_ekf2_rng_ctrl(_params->rng_ctrl),
 	_param_ekf2_terr_mask(_params->terrain_fusion_mode),
 	_param_ekf2_noaid_tout(_params->valid_timeout_max),
 	_param_ekf2_rng_noise(_params->range_noise),
@@ -114,7 +117,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_param_ekf2_rng_gate(_params->range_innov_gate),
 	_param_ekf2_min_rng(_params->rng_gnd_clearance),
 	_param_ekf2_rng_pitch(_params->rng_sens_pitch),
-	_param_ekf2_rng_aid(_params->range_aid),
 	_param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid),
 	_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
 	_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
@@ -292,7 +294,7 @@ void EKF2::Run()
 		}
 
 		// if using baro ensure sensor interval minimum is sufficient to accommodate system averaged baro output
-		if (_params->fusion_mode & SensorFusionMask::USE_BARO_HGT) {
+		if (_params->baro_ctrl == 1) {
 			float sens_baro_rate = 0.f;
 
 			if (param_get(param_find("SENS_BARO_RATE"), &sens_baro_rate) == PX4_OK) {
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 4c94bfd24f..099ad25e7e 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -456,7 +456,10 @@ private:
 		// measurement source control
 		(ParamExtInt<px4::params::EKF2_AID_MASK>)
 		_param_ekf2_aid_mask,		///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
-		(ParamExtInt<px4::params::EKF2_HGT_MODE>) _param_ekf2_hgt_mode,	///< selects the primary source for height data
+		(ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref,    ///< selects the primary source for height data
+		(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,///< barometer control selection
+		(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl,  ///< GPS control selection
+		(ParamExtInt<px4::params::EKF2_RNG_CTRL>) _param_ekf2_rng_ctrl,	 ///< range finder control selection
 		(ParamExtInt<px4::params::EKF2_TERR_MASK>)
 		_param_ekf2_terr_mask, ///< bitmasked integer that selects which of range finder and optical flow aiding sources will be used for terrain estimation
 		(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
@@ -470,8 +473,6 @@ private:
 		_param_ekf2_rng_gate,	///< range finder fusion innovation consistency gate size (STD)
 		(ParamExtFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng,	///< minimum valid value for range when on ground (m)
 		(ParamExtFloat<px4::params::EKF2_RNG_PITCH>) _param_ekf2_rng_pitch,	///< range sensor pitch offset (rad)
-		(ParamExtInt<px4::params::EKF2_RNG_AID>)
-		_param_ekf2_rng_aid,		///< enables use of a range finder even if primary height source is not range finder
 		(ParamExtFloat<px4::params::EKF2_RNG_A_VMAX>)
 		_param_ekf2_rng_a_vmax,	///< maximum allowed horizontal velocity for range aid (m/s)
 		(ParamExtFloat<px4::params::EKF2_RNG_A_HMAX>)
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 2bc7fdc9cf..0a69cd8f8c 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -600,44 +600,39 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
  * Integer bitmask controlling data fusion and aiding methods.
  *
  * Set bits in the following positions to enable:
- * 0 : Set to true to use GPS data if available
+ * 0 : Deprecated, use EKF2_GPS_CTRL instead
  * 1 : Set to true to use optical flow data if available
  * 2 : Set to true to inhibit IMU delta velocity bias estimation
  * 3 : Set to true to enable vision position fusion
  * 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true.
  * 5 : Set to true to enable multi-rotor drag specific force fusion
  * 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used
- * 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.
+ * 7 : Deprecated, use EKF2_GPS_CTRL instead
  * 8 : Set to true to enable vision velocity fusion
- * 9 : Set to true to enable barometer height fusion.
- * 10 : Set to true to enable GPS height fusion.
- * 11 : Set to true to enable range finder height fusion.
- * 12 : Set to true to enable vision height fusion.
  *
  * @group EKF2
  * @min 0
- * @max 8091
- * @bit 0 position: GPS
- * @bit 1 velocity: optical flow
+ * @max 511
+ * @bit 0 unused
+ * @bit 1 use optical flow
  * @bit 2 inhibit IMU bias estimation
- * @bit 3 position: vision
- * @bit 4 yaw: vision
- * @bit 5 wind: multi-rotor drag fusion
+ * @bit 3 vision position fusion
+ * @bit 4 vision yaw fusion
+ * @bit 5 multi-rotor drag fusion
  * @bit 6 rotate external vision
- * @bit 7 yaw: GPS
- * @bit 8 velocity: vision
- * @bit 9 height: barometer
- * @bit 10 height: GPS
- * @bit 11 height: range finder
- * @bit 12 height: vision
+ * @bit 7 unused
+ * @bit 8 vision velocity fusion
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(EKF2_AID_MASK, 513);
+PARAM_DEFINE_INT32(EKF2_AID_MASK, 0);
 
 /**
- * Determines the primary source of height data used by the EKF.
+ * Determines the reference source of height data used by the EKF.
  *
- * The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
+ * When multiple height sources are enabled at the same time, the height estimate will
+ * always converge towards the reference height source selected by this parameter.
+ *
+ * The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
  *
  * @group EKF2
  * @value 0 Barometric pressure
@@ -646,7 +641,61 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 513);
  * @value 3 Vision
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
+PARAM_DEFINE_INT32(EKF2_HGT_REF, 1);
+
+/**
+ * Barometric sensor height aiding
+ *
+ * If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate it's height in addition to other
+ * height sources (if activated).
+ *
+ * @group EKF2
+ * @boolean
+ */
+PARAM_DEFINE_INT32(EKF2_BARO_CTRL, 1);
+
+/**
+ * GNSS sensor aiding
+ *
+ * Set bits in the following positions to enable:
+ * 0 : Longitude and latitude fusion
+ * 1 : Altitude fusion
+ * 2 : 3D velocity fusion
+ * 3 : Dual antenna heading fusion
+ *
+ * @group EKF2
+ * @min 0
+ * @max 15
+ * @bit 0 Lon/lat
+ * @bit 1 Altitude
+ * @bit 2 3D velocity
+ * @bit 3 Dual antenna heading
+ */
+PARAM_DEFINE_INT32(EKF2_GPS_CTRL, 7);
+
+/**
+ * Range sensor height aiding
+ *
+ * WARNING: Range finder measurements are less reliable and can experience unexpected errors.
+ * For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead,
+ * unless baro errors are severe enough to cause problems with landing and takeoff.
+ *
+ * To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead.
+ *
+ * If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height in addition to other
+ * height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode.
+ *
+ * Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX)
+ * operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state
+ * estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does
+ * not occur until above EKF2_RNG_A_HMAX.
+ *
+ * @group EKF2
+ * @value 0 Disable range fusion
+ * @value 1 Enabled (conditional mode)
+ * @value 2 Enabled
+ */
+PARAM_DEFINE_INT32(EKF2_RNG_CTRL, 1);
 
 /**
  * Integer bitmask controlling fusion sources of the terrain estimator
@@ -1056,30 +1105,10 @@ PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f);
 PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
 
 /**
- * Range sensor aid.
- *
- * If this parameter is enabled then the estimator will make use of the range finder measurements
- * to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions
- * for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude
- * operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state
- * estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does
- * not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height
- * sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements
- * are less reliable and can experience unexpected errors. For these reasons, if accurate control of height
- * relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors
- * are severe enough to cause problems with landing and takeoff.
- *
- * @group EKF2
- * @value 0 Range aid disabled
- * @value 1 Range aid enabled
- */
-PARAM_DEFINE_INT32(EKF2_RNG_AID, 1);
-
-/**
- * Maximum horizontal velocity allowed for range aid mode.
+ * Maximum horizontal velocity allowed for conditional range aid mode.
  *
  * If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements
- * to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
+ * to estimate it's height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
  *
  * @group EKF2
  * @min 0.1
@@ -1089,10 +1118,10 @@ PARAM_DEFINE_INT32(EKF2_RNG_AID, 1);
 PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
 
 /**
- * Maximum absolute altitude (height above ground level) allowed for range aid mode.
+ * Maximum absolute altitude (height above ground level) allowed for conditional range aid mode.
  *
  * If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements
- * to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
+ * to estimate it's height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
  *
  * @group EKF2
  * @min 1.0
diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
index 03cdfec169..3f4cc8bffc 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
@@ -12,17 +12,17 @@ EkfWrapper::~EkfWrapper()
 
 void EkfWrapper::setBaroHeightRef()
 {
-	_ekf_params->height_sensor_ref |= HeightSensorRef::BARO;
+	_ekf_params->height_sensor_ref = HeightSensor::BARO;
 }
 
 void EkfWrapper::enableBaroHeightFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_BARO_HGT;
+	_ekf_params->baro_ctrl = 1;
 }
 
 void EkfWrapper::disableBaroHeightFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_BARO_HGT;
+	_ekf_params->baro_ctrl = 0;
 }
 
 bool EkfWrapper::isIntendingBaroHeightFusion() const
@@ -32,17 +32,17 @@ bool EkfWrapper::isIntendingBaroHeightFusion() const
 
 void EkfWrapper::setGpsHeightRef()
 {
-	_ekf_params->height_sensor_ref |= HeightSensorRef::GPS;
+	_ekf_params->height_sensor_ref = HeightSensor::GNSS;
 }
 
 void EkfWrapper::enableGpsHeightFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_GPS_HGT;
+	_ekf_params->gnss_ctrl |= GnssCtrl::VPOS;
 }
 
 void EkfWrapper::disableGpsHeightFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_GPS_HGT;
+	_ekf_params->gnss_ctrl &= ~GnssCtrl::VPOS;
 }
 
 bool EkfWrapper::isIntendingGpsHeightFusion() const
@@ -52,17 +52,17 @@ bool EkfWrapper::isIntendingGpsHeightFusion() const
 
 void EkfWrapper::setRangeHeightRef()
 {
-	_ekf_params->height_sensor_ref |= HeightSensorRef::RANGE;
+	_ekf_params->height_sensor_ref = HeightSensor::RANGE;
 }
 
 void EkfWrapper::enableRangeHeightFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_RNG_HGT;
+	_ekf_params->rng_ctrl = RngCtrl::ENABLED;
 }
 
 void EkfWrapper::disableRangeHeightFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_RNG_HGT;
+	_ekf_params->rng_ctrl = RngCtrl::DISABLED;
 }
 
 bool EkfWrapper::isIntendingRangeHeightFusion() const
@@ -72,17 +72,12 @@ bool EkfWrapper::isIntendingRangeHeightFusion() const
 
 void EkfWrapper::setExternalVisionHeightRef()
 {
-	_ekf_params->height_sensor_ref |= HeightSensorRef::EV;
+	_ekf_params->height_sensor_ref = HeightSensor::EV;
 }
 
 void EkfWrapper::enableExternalVisionHeightFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_HGT;
-}
-
-void EkfWrapper::disableExternalVisionHeightFusion()
-{
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_HGT;
+	setExternalVisionHeightRef(); // TODO: replace by EV control parameter
 }
 
 bool EkfWrapper::isIntendingExternalVisionHeightFusion() const
@@ -92,12 +87,12 @@ bool EkfWrapper::isIntendingExternalVisionHeightFusion() const
 
 void EkfWrapper::enableGpsFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_GPS;
+	_ekf_params->gnss_ctrl |= GnssCtrl::HPOS | GnssCtrl::VEL;
 }
 
 void EkfWrapper::disableGpsFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_GPS;
+	_ekf_params->gnss_ctrl &= ~(GnssCtrl::HPOS | GnssCtrl::VEL);
 }
 
 bool EkfWrapper::isIntendingGpsFusion() const
@@ -107,12 +102,12 @@ bool EkfWrapper::isIntendingGpsFusion() const
 
 void EkfWrapper::enableGpsHeadingFusion()
 {
-	_ekf_params->fusion_mode |= SensorFusionMask::USE_GPS_YAW;
+	_ekf_params->gnss_ctrl |= GnssCtrl::YAW;
 }
 
 void EkfWrapper::disableGpsHeadingFusion()
 {
-	_ekf_params->fusion_mode &= ~SensorFusionMask::USE_GPS_YAW;
+	_ekf_params->gnss_ctrl &= ~GnssCtrl::YAW;
 }
 
 bool EkfWrapper::isIntendingGpsHeadingFusion() const
diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
index 4e2cc95ae7..4072c4fd54 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
@@ -66,7 +66,7 @@ public:
 
 	void setExternalVisionHeightRef();
 	void enableExternalVisionHeightFusion();
-	void disableExternalVisionHeightFusion();
+	/* void disableExternalVisionHeightFusion(); */
 	bool isIntendingExternalVisionHeightFusion() const;
 
 	void enableGpsFusion();