diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
index aabb94d8a9..60ef18f6e0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
@@ -110,7 +110,7 @@ bool AP_RangeFinder_BBB_PRU::detect()
 */
 void AP_RangeFinder_BBB_PRU::update(void)
 {
-    state.status = (RangeFinder::RangeFinder_Status)rangerpru->status;
+    state.status = (RangeFinder::Status)rangerpru->status;
     state.distance_cm = rangerpru->distance;
     state.last_reading_ms = AP_HAL::millis();
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
index 39a9968b51..ed2bd1d4ea 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
@@ -85,7 +85,7 @@ void AP_RangeFinder_BLPing::update(void)
         state.last_reading_ms = now;
         update_status();
     } else if (now - state.last_reading_ms > BLPING_TIMEOUT_MS) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
 
         // initialise sensor if no distances recently
         if (now - last_init_ms > BLPING_INIT_RATE_MS) {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
index f02a845988..ae0a1f1674 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
@@ -186,6 +186,6 @@ void AP_RangeFinder_Benewake::update(void)
         state.last_reading_ms = AP_HAL::millis();
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
index 23985e0135..706f073f1d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
@@ -145,7 +145,7 @@ void AP_RangeFinder_Benewake_TFMiniPlus::update()
         accum.count = 0;
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
index d738cdc43c..07713c8ad0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
@@ -120,6 +120,6 @@ void AP_RangeFinder_Lanbao::update(void)
         state.last_reading_ms = AP_HAL::millis();
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index 9e48bce725..39a6ca1427 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -133,7 +133,7 @@ void AP_RangeFinder_LeddarOne::update(void)
         state.last_reading_ms = AP_HAL::millis();
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
index b62a25f96c..f953def399 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
@@ -453,7 +453,7 @@ void AP_RangeFinder_LightWareI2C::legacy_timer(void)
         // update range_valid state based on distance measured
         update_status();
     } else {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
@@ -463,7 +463,7 @@ void AP_RangeFinder_LightWareI2C::sf20_timer(void)
         // update range_valid state based on distance measured
         update_status();
     } else {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
index 29b01b6ea3..96a5a61d3a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
@@ -123,6 +123,6 @@ void AP_RangeFinder_LightWareSerial::update(void)
         state.last_reading_ms = AP_HAL::millis();
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
index cae9a7db72..a54b6b0b2e 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
@@ -67,7 +67,7 @@ void AP_RangeFinder_MAVLink::update(void)
     //Time out on incoming data; if we don't get new
     //data in 500ms, dump it
     if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_MAVLINK_TIMEOUT_MS) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
         state.distance_cm = 0;
     } else {
         state.distance_cm = distance_cm;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index db30e18cdb..30f91d711a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -155,6 +155,6 @@ void AP_RangeFinder_MaxsonarI2CXL::update(void)
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 300) {
         // if no updates for 0.3 seconds set no-data
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
index 2a13702d4b..4e28464801 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
@@ -98,6 +98,6 @@ void AP_RangeFinder_MaxsonarSerialLV::update(void)
         state.last_reading_ms = AP_HAL::millis();
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 500) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
index de4990e050..aa12b79974 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
@@ -52,7 +52,7 @@ void AP_RangeFinder_NMEA::update(void)
         state.last_reading_ms = now;
         update_status();
     } else if ((now - state.last_reading_ms) > 3000) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
index 45c6ca737e..68358a6784 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
@@ -151,7 +151,7 @@ void AP_RangeFinder_PWM::update(void)
             if (!was_out_of_range) {
                 // we are above the power saving range. Disable the sensor
                 hal.gpio->write(params.stop_pin, false);
-                set_status(RangeFinder::RangeFinder_NoData);
+                set_status(RangeFinder::Status::NoData);
                 state.distance_cm = 0;
                 state.voltage_mv = 0;
                 was_out_of_range = oor;
@@ -168,7 +168,7 @@ void AP_RangeFinder_PWM::update(void)
     if (!get_reading(state.distance_cm)) {
         // failure; consider changing our state
         if (AP_HAL::millis() - state.last_reading_ms > 200) {
-            set_status(RangeFinder::RangeFinder_NoData);
+            set_status(RangeFinder::Status::NoData);
         }
         return;
     }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index c2a08e62af..8070b48e87 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -102,7 +102,7 @@ void AP_RangeFinder_PulsedLightLRF::timer(void)
             }
             last_distance_cm = _distance_cm;
         } else {
-            set_status(RangeFinder::RangeFinder_NoData);
+            set_status(RangeFinder::Status::NoData);
         }
         if (!v2_hardware) {
             // for v2 hw we use continuous mode
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index e80def8808..a4dfdb253a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -191,6 +191,6 @@ void AP_RangeFinder_TeraRangerI2C::update(void)
         accum.count = 0;
         update_status();        
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
index 52b9a636c9..5f8208ac2f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
@@ -102,14 +102,14 @@ void AP_RangeFinder_UAVCAN::update()
     WITH_SEMAPHORE(_sem);
     if ((AP_HAL::millis() - _last_reading_ms) > 500) {
         //if data is older than 500ms, report NoData
-        set_status(RangeFinder::RangeFinder_NoData);
-    } else if (_status == RangeFinder::RangeFinder_Good && new_data) {
+        set_status(RangeFinder::Status::NoData);
+    } else if (_status == RangeFinder::Status::Good && new_data) {
         //copy over states
         state.distance_cm = _distance_cm;
         state.last_reading_ms = _last_reading_ms;
         update_status();
         new_data = false;
-    } else if (_status != RangeFinder::RangeFinder_Good) {
+    } else if (_status != RangeFinder::Status::Good) {
         //handle additional states received by measurement handler
         set_status(_status);
     }
@@ -130,7 +130,7 @@ void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t nod
             //update the states in backend instance
             driver->_distance_cm = cb.msg->range*100.0f;
             driver->_last_reading_ms = AP_HAL::millis();
-            driver->_status = RangeFinder::RangeFinder_Good;
+            driver->_status = RangeFinder::Status::Good;
             driver->new_data = true;
             break;
         }
@@ -138,13 +138,13 @@ void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t nod
         case uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_CLOSE:
         {
             driver->_last_reading_ms = AP_HAL::millis();
-            driver->_status = RangeFinder::RangeFinder_OutOfRangeLow;
+            driver->_status = RangeFinder::Status::OutOfRangeLow;
             break;
         }
         case uavcan::equipment::range_sensor::Measurement::READING_TYPE_TOO_FAR:
         {
             driver->_last_reading_ms = AP_HAL::millis();
-            driver->_status = RangeFinder::RangeFinder_OutOfRangeHigh;
+            driver->_status = RangeFinder::Status::OutOfRangeHigh;
             break;
         }
         default:
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
index 23f45ae522..1c8a75f134 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
@@ -25,7 +25,7 @@ protected:
     }
 private:
     uint8_t _instance;
-    RangeFinder::RangeFinder_Status _status;
+    RangeFinder::Status _status;
     uint16_t _distance_cm;
     uint32_t _last_reading_ms;
     AP_UAVCAN* _ap_uavcan;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
index 4973ae446c..d0382c764b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
@@ -773,7 +773,7 @@ void AP_RangeFinder_VL53L0X::update(void)
         counter = 0;
         update_status();
     } else {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
index 6ff687b27b..c3263fc1df 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
@@ -555,6 +555,6 @@ void AP_RangeFinder_VL53L1X::update(void)
         counter = 0;
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
         // if no updates for 0.2s set no-data
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
index ba57588f9f..aeaffe05f2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
@@ -133,7 +133,7 @@ bool AP_RangeFinder_Wasp::get_reading(uint16_t &reading_cm) {
     }
 
     reading_cm = 100 * sum / count;
-    set_status(RangeFinder::RangeFinder_Good);
+    set_status(RangeFinder::Status::Good);
 
     return true;
 }
@@ -142,7 +142,7 @@ bool AP_RangeFinder_Wasp::get_reading(uint16_t &reading_cm) {
 
 void AP_RangeFinder_Wasp::update(void) {
     if (!get_reading(state.distance_cm)) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 
     if (AP_HAL::millis() - state.last_reading_ms > 500) {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
index f93e403b20..8964822cd5 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
@@ -38,10 +38,10 @@ AP_RangeFinder_analog::AP_RangeFinder_analog(RangeFinder::RangeFinder_State &_st
     source = hal.analogin->channel(_params.pin);
     if (source == nullptr) {
         // failed to allocate a ADC channel? This shouldn't happen
-        set_status(RangeFinder::RangeFinder_NotConnected);
+        set_status(RangeFinder::Status::NotConnected);
         return;
     }
-    set_status(RangeFinder::RangeFinder_NoData);
+    set_status(RangeFinder::Status::NoData);
 }
 
 /* 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
index 4635303fcd..cf7854b120 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
@@ -215,6 +215,6 @@ void AP_RangeFinder_uLanding::update(void)
         // update range_valid state based on distance measured
         update_status();
     } else if (AP_HAL::millis() - state.last_reading_ms > 200) {
-        set_status(RangeFinder::RangeFinder_NoData);
+        set_status(RangeFinder::Status::NoData);
     }
 }
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 6f9b968f84..aa1c726422 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -316,7 +316,7 @@ void RangeFinder::init(enum Rotation orientation_default)
         }
 
         // initialise status
-        state[i].status = RangeFinder_NotConnected;
+        state[i].status = Status::NotConnected;
         state[i].range_valid_count = 0;
     }
 }
@@ -331,7 +331,7 @@ void RangeFinder::update(void)
         if (drivers[i] != nullptr) {
             if ((Type)params[i].type.get() == Type::NONE) {
                 // allow user to disable a rangefinder at runtime
-                state[i].status = RangeFinder_NotConnected;
+                state[i].status = Status::NotConnected;
                 state[i].range_valid_count = 0;
                 continue;
             }
@@ -556,11 +556,11 @@ AP_RangeFinder_Backend *RangeFinder::get_backend(uint8_t id) const {
     return drivers[id];
 };
 
-RangeFinder::RangeFinder_Status RangeFinder::status_orient(enum Rotation orientation) const
+RangeFinder::Status RangeFinder::status_orient(enum Rotation orientation) const
 {
     AP_RangeFinder_Backend *backend = find_instance(orientation);
     if (backend == nullptr) {
-        return RangeFinder_NotConnected;
+        return Status::NotConnected;
     }
     return backend->status();
 }
@@ -589,7 +589,7 @@ AP_RangeFinder_Backend *RangeFinder::find_instance(enum Rotation orientation) co
         AP_RangeFinder_Backend *backend = get_backend(i);
         if (backend != nullptr &&
             backend->orientation() == orientation &&
-            backend->status() == RangeFinder_Good) {
+            backend->status() == Status::Good) {
             return backend;
         }
     }
diff --git a/libraries/AP_RangeFinder/RangeFinder.h b/libraries/AP_RangeFinder/RangeFinder.h
index 97ea759dea..b7d634f895 100644
--- a/libraries/AP_RangeFinder/RangeFinder.h
+++ b/libraries/AP_RangeFinder/RangeFinder.h
@@ -85,19 +85,19 @@ public:
         HYPERBOLA = 2
     };
 
-    enum RangeFinder_Status {
-        RangeFinder_NotConnected = 0,
-        RangeFinder_NoData,
-        RangeFinder_OutOfRangeLow,
-        RangeFinder_OutOfRangeHigh,
-        RangeFinder_Good
+    enum class Status {
+        NotConnected = 0,
+        NoData,
+        OutOfRangeLow,
+        OutOfRangeHigh,
+        Good
     };
 
     // The RangeFinder_State structure is filled in by the backend driver
     struct RangeFinder_State {
         uint16_t distance_cm;           // distance: in cm
         uint16_t voltage_mv;            // voltage in millivolts, if applicable, otherwise 0
-        enum RangeFinder_Status status; // sensor status
+        enum RangeFinder::Status status; // sensor status
         uint8_t  range_valid_count;     // number of consecutive valid readings (maxes out at 10)
         uint32_t last_reading_ms;       // system time of last successful update from sensor
 
@@ -145,7 +145,7 @@ public:
     int16_t min_distance_cm_orient(enum Rotation orientation) const;
     int16_t ground_clearance_cm_orient(enum Rotation orientation) const;
     MAV_DISTANCE_SENSOR get_mav_distance_sensor_type_orient(enum Rotation orientation) const;
-    RangeFinder_Status status_orient(enum Rotation orientation) const;
+    RangeFinder::Status status_orient(enum Rotation orientation) const;
     bool has_data_orient(enum Rotation orientation) const;
     uint8_t range_valid_count_orient(enum Rotation orientation) const;
     const Vector3f &get_pos_offset_orient(enum Rotation orientation) const;
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.cpp b/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
index 195f4939c3..8597dc20ec 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.cpp
@@ -38,18 +38,18 @@ MAV_DISTANCE_SENSOR AP_RangeFinder_Backend::get_mav_distance_sensor_type() const
     return _get_mav_distance_sensor_type();
 }
 
-RangeFinder::RangeFinder_Status AP_RangeFinder_Backend::status() const {
+RangeFinder::Status AP_RangeFinder_Backend::status() const {
     if (type() == RangeFinder::Type::NONE) {
         // turned off at runtime?
-        return RangeFinder::RangeFinder_NotConnected;
+        return RangeFinder::Status::NotConnected;
     }
     return state.status;
 }
 
 // true if sensor is returning data
 bool AP_RangeFinder_Backend::has_data() const {
-    return ((state.status != RangeFinder::RangeFinder_NotConnected) &&
-            (state.status != RangeFinder::RangeFinder_NoData));
+    return ((state.status != RangeFinder::Status::NotConnected) &&
+            (state.status != RangeFinder::Status::NoData));
 }
 
 // update status based on distance measurement
@@ -57,21 +57,21 @@ void AP_RangeFinder_Backend::update_status()
 {
     // check distance
     if ((int16_t)state.distance_cm > params.max_distance_cm) {
-        set_status(RangeFinder::RangeFinder_OutOfRangeHigh);
+        set_status(RangeFinder::Status::OutOfRangeHigh);
     } else if ((int16_t)state.distance_cm < params.min_distance_cm) {
-        set_status(RangeFinder::RangeFinder_OutOfRangeLow);
+        set_status(RangeFinder::Status::OutOfRangeLow);
     } else {
-        set_status(RangeFinder::RangeFinder_Good);
+        set_status(RangeFinder::Status::Good);
     }
 }
 
 // set status and update valid count
-void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_Status _status)
+void AP_RangeFinder_Backend::set_status(RangeFinder::Status _status)
 {
     state.status = _status;
 
     // update valid count
-    if (_status == RangeFinder::RangeFinder_Good) {
+    if (_status == RangeFinder::Status::Good) {
         if (state.range_valid_count < 10) {
             state.range_valid_count++;
         }
diff --git a/libraries/AP_RangeFinder/RangeFinder_Backend.h b/libraries/AP_RangeFinder/RangeFinder_Backend.h
index 0c91d48aa5..b90a15e601 100644
--- a/libraries/AP_RangeFinder/RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/RangeFinder_Backend.h
@@ -40,7 +40,7 @@ public:
     int16_t min_distance_cm() const { return params.min_distance_cm; }
     int16_t ground_clearance_cm() const { return params.ground_clearance_cm; }
     MAV_DISTANCE_SENSOR get_mav_distance_sensor_type() const;
-    RangeFinder::RangeFinder_Status status() const;
+    RangeFinder::Status status() const;
     RangeFinder::Type type() const { return (RangeFinder::Type)params.type.get(); }
 
     // true if sensor is returning data
@@ -62,7 +62,7 @@ protected:
     void update_status();
 
     // set status and update valid_count
-    void set_status(RangeFinder::RangeFinder_Status status);
+    void set_status(RangeFinder::Status status);
 
     RangeFinder::RangeFinder_State &state;
     AP_RangeFinder_Params &params;