diff --git a/EKF/control.cpp b/EKF/control.cpp
index 19e57815c1..4d3c0961ac 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -125,7 +125,7 @@ void Ekf::controlFusionModes()
 	_range_sensor.runChecks(_imu_sample_delayed.time_us, _R_to_earth);
 
 	// update range sensor angle parameters in case they have changed
-	_range_sensor.setTiltOffset(_params.rng_sens_pitch);
+	_range_sensor.setPitchOffset(_params.rng_sens_pitch);
 	_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
 	}
 
diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index b70dbda89d..529af9db39 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -75,7 +75,7 @@ void Ekf::reset()
 
 	_filter_initialised = false;
 	_terrain_initialised = false;
-	_range_sensor.setTiltOffset(_params.rng_sens_pitch);
+	_range_sensor.setPitchOffset(_params.rng_sens_pitch);
 	_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
 
 	_control_status.value = 0;
diff --git a/EKF/sensor_range_finder.cpp b/EKF/sensor_range_finder.cpp
index afa8a2b263..5fc8630d6a 100644
--- a/EKF/sensor_range_finder.cpp
+++ b/EKF/sensor_range_finder.cpp
@@ -55,7 +55,7 @@ void SensorRangeFinder::updateSensorToEarthRotation(const Dcmf &R_to_earth)
 {
 	// calculate 2,2 element of rotation matrix from sensor frame to earth frame
 	// this is required for use of range finder and flow data
-	_cos_tilt_rng_to_earth = R_to_earth(2, 0) * _sin_tilt_rng + R_to_earth(2, 2) * _cos_tilt_rng;
+	_cos_tilt_rng_to_earth = R_to_earth(2, 0) * _sin_pitch_offset + R_to_earth(2, 2) * _cos_pitch_offset;
 }
 
 void SensorRangeFinder::updateValidity(uint64_t current_time_us)
diff --git a/EKF/sensor_range_finder.hpp b/EKF/sensor_range_finder.hpp
index 6366b30bf5..4d226a2da9 100644
--- a/EKF/sensor_range_finder.hpp
+++ b/EKF/sensor_range_finder.hpp
@@ -67,12 +67,12 @@ public:
 	// TODO: move the ring buffer here
 	rangeSample* getSampleAddress() { return &_sample; }
 
-	void setTiltOffset(float new_tilt_offset)
+	void setPitchOffset(float new_pitch_offset)
 	{
-		if (fabsf(_tilt_offset_rad - new_tilt_offset) > FLT_EPSILON) {
-			_sin_tilt_rng = sinf(new_tilt_offset);
-			_cos_tilt_rng = cosf(new_tilt_offset);
-			_tilt_offset_rad = new_tilt_offset;
+		if (fabsf(_pitch_offset_rad - new_pitch_offset) > FLT_EPSILON) {
+			_sin_pitch_offset = sinf(new_pitch_offset);
+			_cos_pitch_offset = cosf(new_pitch_offset);
+			_pitch_offset_rad = new_pitch_offset;
 		}
 	}
 
@@ -132,9 +132,9 @@ private:
 	 */
 	float _cos_tilt_rng_to_earth{};		///< 2,2 element of the rotation matrix from sensor frame to earth frame
 	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 _tilt_offset_rad{3.14f}; 		///< range finder tilt rotation about the Y body axis
-	float _sin_tilt_rng{0.0f}; 		///< sine of the range finder tilt rotation about the Y body axis
-	float _cos_tilt_rng{-1.0f}; 		///< cosine of the range finder tilt rotation about the Y body axis
+	float _pitch_offset_rad{3.14f}; 		///< range finder tilt rotation about the Y body axis
+	float _sin_pitch_offset{0.0f}; 		///< sine of the range finder tilt rotation about the Y body axis
+	float _cos_pitch_offset{-1.0f}; 		///< cosine of the range finder tilt rotation about the Y body axis
 
 	/*
 	 * Range check
diff --git a/test/test_SensorRangeFinder.cpp b/test/test_SensorRangeFinder.cpp
index a39cb9b151..35fbe73a63 100644
--- a/test/test_SensorRangeFinder.cpp
+++ b/test/test_SensorRangeFinder.cpp
@@ -47,7 +47,7 @@ public:
 	// Setup the Ekf with synthetic measurements
 	void SetUp() override
 	{
-		_range_finder.setTiltOffset(0.f);
+		_range_finder.setPitchOffset(0.f);
 		_range_finder.setCosMaxTilt(0.707f);
 		_range_finder.setLimits(_min_range, _max_range);
 	}