diff --git a/EKF/common.h b/EKF/common.h
index eca1f69da6..af1b9400a3 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -80,8 +80,8 @@ struct flow_message {
 };
 
 struct ext_vision_message {
-	Vector3f posNED;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
-	Vector3f velNED;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
+	Vector3f pos;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
+	Vector3f vel;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
 	Quatf quat;		///< quaternion defining rotation from body to earth frame
 	float posErr;		///< 1-Sigma horizontal position accuracy (m)
 	float hgtErr;		///< 1-Sigma height accuracy (m)
@@ -153,8 +153,8 @@ struct flowSample {
 };
 
 struct extVisionSample {
-	Vector3f posNED;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
-	Vector3f velNED;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
+	Vector3f pos;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
+	Vector3f vel;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
 	Quatf quat;		///< quaternion defining rotation from body to earth frame
 	float posErr;		///< 1-Sigma horizontal position accuracy (m)
 	float hgtErr;		///< 1-Sigma height accuracy (m)
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index aebb6bdab6..19d2f3aa21 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -95,14 +95,14 @@ bool Ekf::resetVelocity()
 		// reset the horizontal velocity variance using the optical flow noise variance
 		P[5][5] = P[4][4] = sq(range) * calcOptFlowMeasVar();
 	} else if (_control_status.flags.ev_vel) {
-		Vector3f _ev_vel = _ev_sample_delayed.velNED;
+		Vector3f _ev_vel = _ev_sample_delayed.vel;
 		if(_params.fusion_mode & MASK_ROTATE_EV){
-			_ev_vel = _ev_rot_mat *_ev_sample_delayed.velNED;
+			_ev_vel = _ev_rot_mat *_ev_sample_delayed.vel;
 		}
 		_state.vel(0) = _ev_vel(0);
 		_state.vel(1) = _ev_vel(1);
 		_state.vel(2) = _ev_vel(2);
-		// TODO: to what should we set the covariances?
+		setDiag(P, 4, 6, sq(_ev_sample_delayed.velErr));
 	} else if (_control_status.flags.ev_pos) {
 		_state.vel.setZero();
 		zeroOffDiag(P, 4, 6);
@@ -156,9 +156,9 @@ bool Ekf::resetPosition()
 
 	} else if (_control_status.flags.ev_pos) {
 		// this reset is only called if we have new ev data at the fusion time horizon
-		Vector3f _ev_pos = _ev_sample_delayed.posNED;
+		Vector3f _ev_pos = _ev_sample_delayed.pos;
 		if(_params.fusion_mode & MASK_ROTATE_EV){
-			_ev_pos = _ev_rot_mat *_ev_sample_delayed.posNED;
+			_ev_pos = _ev_rot_mat *_ev_sample_delayed.pos;
 		}
 		_state.pos(0) = _ev_pos(0);
 		_state.pos(1) = _ev_pos(1);
@@ -308,10 +308,10 @@ void Ekf::resetHeight()
 		vert_pos_reset = true;
 
 		if (std::abs(dt_newest) < std::abs(dt_delayed)) {
-			_state.pos(2) = ev_newest.posNED(2);
+			_state.pos(2) = ev_newest.pos(2);
 
 		} else {
-			_state.pos(2) = _ev_sample_delayed.posNED(2);
+			_state.pos(2) = _ev_sample_delayed.pos(2);
 		}
 
 	}
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index a82c12075f..7b01c84645 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -445,8 +445,8 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
 		ev_sample_new.velErr = evdata->velErr;
 		ev_sample_new.hgtErr = evdata->hgtErr;
 		ev_sample_new.quat = evdata->quat;
-		ev_sample_new.posNED = evdata->posNED;
-		ev_sample_new.velNED = evdata->velNED;
+		ev_sample_new.pos = evdata->pos;
+		ev_sample_new.vel = evdata->vel;
 
 		// record time for comparison next measurement
 		_time_last_ext_vision = time_usec;
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index a861c6ea2d..ac63e96395 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -147,7 +147,7 @@ void Ekf::fuseVelPosHeight()
 		} else if (_control_status.flags.ev_hgt) {
 			fuse_map[5] = true;
 			// calculate the innovation assuming the external vision observation is in local NED frame
-			innovation[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);
+			innovation[5] = _state.pos(2) - _ev_sample_delayed.pos(2);
 			// observation variance - defined externally
 			R[5] = fmaxf(_ev_sample_delayed.hgtErr, 0.01f);
 			R[5] = R[5] * R[5];