diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
index 712aa1aca3..676e504b55 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
@@ -163,6 +163,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_control_status.flags.rng_hgt = true;
 
 					if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
+						ECL_INFO("starting %s height fusion, resetting terrain", HGT_SRC_NAME);
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
@@ -173,6 +174,13 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		if (_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) {
 			if (continuing_conditions_passing) {
 
+				if (do_conditional_range_aid) {
+					_height_sensor_ref = HeightSensor::RANGE;
+
+				} else if (_height_sensor_ref == HeightSensor::RANGE) {
+					_height_sensor_ref = HeightSensor::UNKNOWN;
+				}
+
 				if (_range_sensor.isDataHealthy()
 				    && _control_status.flags.rng_kin_consistent
 				   ) {
diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp
index bc7f95f0e3..c91306a0eb 100644
--- a/src/modules/ekf2/EKF/height_control.cpp
+++ b/src/modules/ekf2/EKF/height_control.cpp
@@ -112,8 +112,11 @@ void Ekf::checkHeightSensorRefFallback()
 		    || ((fallback_list[i] == HeightSensor::GNSS) && _control_status.flags.gps_hgt)
 		    || ((fallback_list[i] == HeightSensor::RANGE) && _control_status.flags.rng_hgt)
 		    || ((fallback_list[i] == HeightSensor::EV) && _control_status.flags.ev_hgt)) {
-			ECL_INFO("fallback to secondary height reference");
+
+
 			_height_sensor_ref = fallback_list[i];
+
+			ECL_WARN("fallback to secondary height reference %d", (int)_height_sensor_ref);
 			break;
 		}
 	}
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index ec2c975500..2b6ae0dc0b 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1059,12 +1059,12 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 	if (_ekf.aid_src_baro_hgt().timestamp_sample != 0) {
 		const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
 
-		if (fabsf(status.bias - _last_baro_bias_published) > 1e-6f) {
-			_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
-							 _device_id_baro));
+		//if (fabsf(status.bias - _last_baro_bias_published) > 1e-6f) {
+		_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
+						 _device_id_baro));
 
-			_last_baro_bias_published = status.bias;
-		}
+		_last_baro_bias_published = status.bias;
+		//}
 	}
 }
 #endif // CONFIG_EKF2_BAROMETER