diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
index 58b1353573..45d917cb7e 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
@@ -39,7 +39,7 @@
 
 using namespace matrix;
 
-void RangeFinderConsistencyCheck::initMiniKF(float var_z, float var_terrain, float z, float dist_bottom)
+void RangeFinderConsistencyCheck::init(float var_z, float var_terrain, float z, float dist_bottom)
 {
 	_R.setZero();
 	_A.setIdentity();
@@ -54,7 +54,7 @@ void RangeFinderConsistencyCheck::initMiniKF(float var_z, float var_terrain, flo
 	_state = KinematicState::UNKNOWN;
 }
 
-void RangeFinderConsistencyCheck::UpdateMiniKF(float z, float z_var, float vz, float vz_var, float dist_bottom,
+void RangeFinderConsistencyCheck::update(float z, float z_var, float vz, float vz_var, float dist_bottom,
 		float dist_bottom_var, uint64_t time_us)
 {
 	const float dt = static_cast<float>(time_us - _time_last_update_us) * 1e-6f;
@@ -112,6 +112,8 @@ void RangeFinderConsistencyCheck::UpdateMiniKF(float z, float z_var, float vz, f
 			_state = KinematicState::INCONSISTENT;
 		}
 
+	} else {
+		_test_ratio_lpf.update(test_ratio);
 	}
 }
 
@@ -125,8 +127,8 @@ void RangeFinderConsistencyCheck::run(const float z, const float vz,
 	if (!_initialized || current_posD_reset_count != _last_posD_reset_count) {
 		_last_posD_reset_count = current_posD_reset_count;
 		const float terrain_var = P(estimator::State::terrain.idx, estimator::State::terrain.idx);
-		initMiniKF(z_var, terrain_var, z, dist_bottom);
+		init(z_var, terrain_var, z, dist_bottom);
 	}
 
-	UpdateMiniKF(z, z_var, vz, vz_var, dist_bottom, dist_bottom_var, time_us);
+	update(z, z_var, vz, vz_var, dist_bottom, dist_bottom_var, time_us);
 }
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
index 5997984da8..c1ffb4eadd 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
@@ -62,10 +62,10 @@ public:
 
 	bool isKinematicallyConsistent() const { return _state == KinematicState::CONSISTENT; }
 	bool isNotKinematicallyInconsistent() const { return _state != KinematicState::INCONSISTENT || _fixed_wing; }
-	void UpdateMiniKF(float z, float z_var, float vz, float vz_var, float dist_bottom, float dist_bottom_var,
+	void update(float z, float z_var, float vz, float vz_var, float dist_bottom, float dist_bottom_var,
 			  uint64_t time_us);
-	void initMiniKF(float var_z, float var_terrain, float z, float dist_bottom);
-	void stopMiniKF()
+	void init(float var_z, float var_terrain, float z, float dist_bottom);
+	void stop()
 	{
 		if (_initialized) {
 			if (_state == KinematicState::CONSISTENT) {
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
index 78acdd914c..66c03f24b5 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
@@ -80,7 +80,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 
 					if (horizontal_motion) {
 						if (_rng_consistency_check.isRunning()) {
-							_rng_consistency_check.stopMiniKF();
+							_rng_consistency_check.stop();
 						}
 
 					} else if (vertical_motion) {
@@ -103,7 +103,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_range_sensor.setValidity(true); // bypass the checks
 
 				} else {
-					_rng_consistency_check.stopMiniKF();
+					_rng_consistency_check.stop();
 				}
 			}
 		}