diff --git a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
index 0f5bcd610c..70cb041784 100644
--- a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
@@ -163,7 +163,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					_height_sensor_ref = HeightSensor::BARO;
 
 					_information_events.flags.reset_hgt_to_baro = true;
-					resetAltitudeTo(measurement, measurement_var);
+					initialiseAltitudeTo(measurement, measurement_var);
 					bias_est.reset();
 
 				} else {
diff --git a/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
index 78a6d12f90..d315874615 100644
--- a/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
@@ -129,7 +129,7 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
 
 					_information_events.flags.reset_hgt_to_gps = true;
 
-					resetAltitudeTo(measurement, measurement_var);
+					initialiseAltitudeTo(measurement, measurement_var);
 					bias_est.reset();
 
 				} else {
diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index c3d4434a71..a0df2a2ad7 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -296,7 +296,7 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 			return false;
 		}
 
-		resetAltitudeTo(altitude, sq(epv));
+		initialiseAltitudeTo(altitude, sq(epv));
 
 		return true;
 	}
@@ -370,7 +370,7 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 		const float obs_var = math::max(sq(epv), sq(0.01f));
 
 		ECL_INFO("reset height to external observation");
-		resetAltitudeTo(gpos_corrected.altitude(), obs_var);
+		initialiseAltitudeTo(gpos_corrected.altitude(), obs_var);
 		_last_known_gpos.setAltitude(gpos_corrected.altitude());
 	}
 
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 47c6e10f94..41728ea008 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -649,7 +649,7 @@ private:
 	bool setAltOrigin(float altitude, float vpos_var = NAN);
 
 	bool resetLatLonTo(double latitude, double longitude, float hpos_var = NAN);
-	bool resetAltitudeTo(float altitude, float vpos_var = NAN);
+	bool initialiseAltitudeTo(float altitude, float vpos_var = NAN);
 
 	// update quaternion states and covariances using an innovation, observation variance and Jacobian vector
 	bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW);
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 33e63a6eb6..e9332fdd90 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -160,7 +160,7 @@ bool Ekf::resetGlobalPositionTo(const double latitude, const double longitude, c
 	}
 
 	// altitude is optional
-	resetAltitudeTo(altitude, vpos_var);
+	initialiseAltitudeTo(altitude, vpos_var);
 
 	return true;
 }
@@ -216,7 +216,7 @@ bool Ekf::resetLatLonTo(const double latitude, const double longitude, const flo
 	return true;
 }
 
-bool Ekf::resetAltitudeTo(const float altitude, const float vpos_var)
+bool Ekf::initialiseAltitudeTo(const float altitude, const float vpos_var)
 {
 	if (!checkAltitudeValidity(altitude)) {
 		return false;