diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index 3027874317..929258d0ab 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -99,7 +99,7 @@ void Ekf::runTerrainEstimator()
 
 		// if stationary on the ground and no range data for over a second, fake a measurement
 		// to handle bad range finder data when on ground
-		if (_rng_hgt_faulty && !_range_data_ready && !_control_status.flags.in_air && _vehicle_at_rest && (_time_last_imu - _time_last_hagl_fuse) > (uint64_t)1E6) {
+		if (!_range_data_ready && !_control_status.flags.in_air && _vehicle_at_rest && (_time_last_imu - _time_last_hagl_fuse) > (uint64_t)1E6) {
 			_range_data_ready = true;
 			_rng_hgt_faulty = false;
 			_range_sample_delayed.rng = _params.rng_gnd_clearance;