* parameter renaming

* move hor-motion check to method

src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp

@@ -181,3 +181,12 @@ void RangeFinderConsistencyCheck::reset()
 
 	_initialized = false;
 }
+
+void RangeFinderConsistencyCheck::setHorizontalMotion(const bool horizontal_motion)
+{
+	if (!horizontal_motion && getHorizontalMotion()) {
+		reset();
+	}
+
+	_horizontal_motion = horizontal_motion;
+}

src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp

@@ -65,7 +65,7 @@ public:
 	void set_terrain_process_noise(float terrain_process_noise) { _terrain_process_noise = terrain_process_noise; }
 	void reset();
 
-	void setHorizontalMotion(const bool horizontal_motion) { _horizontal_motion = horizontal_motion; }
+	void setHorizontalMotion(const bool horizontal_motion);
 	bool getHorizontalMotion() const { return _horizontal_motion; }
 	void setIsLanded(bool landed);
 

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -57,7 +57,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 			_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
 			_range_sensor.setQualityHysteresis(_params.ekf2_rng_qlty_t);
 			_range_sensor.setMaxFogDistance(_params.ekf2_rng_fog);
-			_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
+			_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
 
 			_range_sensor.runChecks(imu_sample.time_us, _R_to_earth);
 

src/modules/ekf2/EKF/common.h

@@ -425,7 +425,7 @@ struct parameters {
 	float ekf2_rng_a_vmax{1.0f};            ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1)
 	float ekf2_rng_qlty_t{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
-	float range_kin_consistency_gate{0.5f}; ///< gate size used by the range finder kinematic consistency check
+	float ekf2_rng_k_gate{0.5f};		///< gate size used by the range finder kinematic consistency check
 	float ekf2_rng_fog{0.f};                ///< max distance which a blocked range sensor measures (fog, dirt) [m]
 
 	Vector3f rng_pos_body{};                ///< xyz position of range sensor in body frame (m)

src/modules/ekf2/EKF2.cpp

@@ -163,7 +163,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
 	_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_range_kin_consistency_gate(_params->range_kin_consistency_gate),
+	_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)),
 	_param_ekf2_rng_pos_y(_params->rng_pos_body(1)),

src/modules/ekf2/EKF2.hpp

@@ -622,7 +622,7 @@ private:
 		(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_range_kin_consistency_gate,
+		(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,
 		(ParamExtFloat<px4::params::EKF2_RNG_POS_Y>) _param_ekf2_rng_pos_y,