diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index bf851ac1e6..6564165557 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -286,20 +286,20 @@ bool AP_NavEKF_Source::usingGPS() const
 }
 
 // true if some parameters have been configured (used during parameter conversion)
-bool AP_NavEKF_Source::configured_in_storage()
+bool AP_NavEKF_Source::configured()
 {
-    if (config_in_storage) {
+    if (_configured) {
         return true;
     }
 
     // first source parameter is used to determine if configured or not
-    config_in_storage = _source_set[0].posxy.configured_in_storage();
+    _configured = _source_set[0].posxy.configured();
 
-    return config_in_storage;
+    return _configured;
 }
 
-// mark parameters as configured in storage (used to ensure parameter conversion is only done once)
-void AP_NavEKF_Source::mark_configured_in_storage()
+// mark parameters as configured (used to ensure parameter conversion is only done once)
+void AP_NavEKF_Source::mark_configured()
 {
     // save first parameter's current value to mark as configured
     return _source_set[0].posxy.save(true);
diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.h b/libraries/AP_NavEKF/AP_NavEKF_Source.h
index 1ab40a42f4..731e62b905 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.h
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.h
@@ -85,10 +85,10 @@ public:
     bool usingGPS() const;
 
     // true if source parameters have been configured (used for parameter conversion)
-    bool configured_in_storage();
+    bool configured();
 
-    // mark parameters as configured in storage (used to ensure parameter conversion is only done once)
-    void mark_configured_in_storage();
+    // mark parameters as configured (used to ensure parameter conversion is only done once)
+    void mark_configured();
 
     // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
     // requires_position should be true if horizontal position configuration should be checked
@@ -119,5 +119,5 @@ private:
     AP_Int16 _options;      // source options bitmask
 
     uint8_t active_source_set; // index of active source set
-    bool config_in_storage; // true once configured in storage has returned true
+    bool _configured; // true once configured has returned true
 };