diff --git a/EKF/common.h b/EKF/common.h
index eef4102415..54badc3f10 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -324,10 +324,8 @@ struct parameters {
 	float acc_bias_learn_gyr_lim{3.0f};	///< learning is disabled if the magnitude of the IMU angular rate vector is greater than this (rad/sec)
 	float acc_bias_learn_tc{0.5f};		///< time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
 
-	unsigned no_gps_timeout_max{7000000};	///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement (uSec)
-	unsigned no_aid_timeout_max{1000000};	///< maximum lapsed time from last fusion of measurements that constrain horizontal velocity drift before
-						///< the EKF will report that it has been inertial dead-reckoning for too long  and needs to revert to a
-						/// mode that doesn't privide horizontal vbelocity and position estimates (uSec)
+	unsigned reset_timeout_max{7000000};	///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
+	unsigned no_aid_timeout_max{1000000};	///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
 
 	int32_t valid_timeout_max{5000000};	///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
 
diff --git a/EKF/control.cpp b/EKF/control.cpp
index 9b37f151d6..700e118a28 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -310,7 +310,7 @@ void Ekf::controlExternalVisionFusion()
 				_vel_pos_innov[4] = _state.pos(1) - _ev_sample_delayed.posNED(1);
 
 				// check if we have been deadreckoning too long
-				if (_time_last_imu - _time_last_pos_fuse > _params.no_gps_timeout_max) {
+				if (_time_last_imu - _time_last_pos_fuse > _params.reset_timeout_max) {
 					// don't reset velocity if we have another source of aiding constraining it
 					if (_time_last_imu - _time_last_of_fuse > (uint64_t)1E6) {
 						resetVelocity();
@@ -343,7 +343,7 @@ void Ekf::controlExternalVisionFusion()
 
 	} else if (_control_status.flags.ev_pos
 		   && (_time_last_imu >= _time_last_ext_vision)
-		   && (_time_last_imu - _time_last_ext_vision > (uint64_t)_params.no_gps_timeout_max)) {
+		   && (_time_last_imu - _time_last_ext_vision > (uint64_t)_params.reset_timeout_max)) {
 
 		// Turn off EV fusion mode if no data has been received
 		_control_status.flags.ev_pos = false;
@@ -420,7 +420,7 @@ void Ekf::controlOpticalFlowFusion()
 			       _control_status.flags.opt_flow = false;
 			       _time_last_of_fuse = 0;
 
-			} else if (_time_last_imu - _time_last_of_fuse > (uint64_t)_params.no_gps_timeout_max) {
+			} else if (_time_last_imu - _time_last_of_fuse > (uint64_t)_params.reset_timeout_max) {
 				_control_status.flags.opt_flow = false;
 
 			}
@@ -465,7 +465,7 @@ void Ekf::controlOpticalFlowFusion()
 		    && !_control_status.flags.gps
 		    && !_control_status.flags.ev_pos) {
 
-			bool do_reset = _time_last_imu - _time_last_of_fuse > _params.no_gps_timeout_max;
+			bool do_reset = _time_last_imu - _time_last_of_fuse > _params.reset_timeout_max;
 
 			if (do_reset) {
 				resetVelocity();
@@ -572,13 +572,13 @@ void Ekf::controlGpsFusion()
 		if (_control_status.flags.gps) {
 			// We are relying on aiding to constrain drift so after a specified time
 			// with no aiding we need to do something
-			bool do_reset = (_time_last_imu - _time_last_pos_fuse > _params.no_gps_timeout_max)
-					&& (_time_last_imu - _time_last_delpos_fuse > _params.no_gps_timeout_max)
-					&& (_time_last_imu - _time_last_vel_fuse > _params.no_gps_timeout_max)
-					&& (_time_last_imu - _time_last_of_fuse > _params.no_gps_timeout_max);
+			bool do_reset = (_time_last_imu - _time_last_pos_fuse > _params.reset_timeout_max)
+					&& (_time_last_imu - _time_last_delpos_fuse > _params.reset_timeout_max)
+					&& (_time_last_imu - _time_last_vel_fuse > _params.reset_timeout_max)
+					&& (_time_last_imu - _time_last_of_fuse > _params.reset_timeout_max);
 
 			// We haven't had an absolute position fix for a longer time so need to do something
-			do_reset = do_reset || (_time_last_imu - _time_last_pos_fuse > 2 * _params.no_gps_timeout_max);
+			do_reset = do_reset || (_time_last_imu - _time_last_pos_fuse > 2 * _params.reset_timeout_max);
 
 			if (do_reset) {
 				// use GPS velocity data to check and correct yaw angle if a FW vehicle