From 37c662e4520d12ffe4499aabfa48c80337443039 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 27 Jan 2022 17:08:02 +0100
Subject: [PATCH] update terrain validity all the time

---
 src/modules/ekf2/EKF/control.cpp           | 1 +
 src/modules/ekf2/EKF/terrain_estimator.cpp | 1 -
 2 files changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index bbf74ed809..97ec445b87 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -912,6 +912,7 @@ void Ekf::controlHeightFusion()
 	if ((_control_status.flags.rng_hgt || _hagl_sensor_status.flags.range_finder) && _range_sensor.isDataHealthy()) {
 		fuseHaglAllStates();
 	}
+	updateTerrainValidity();
 }
 
 void Ekf::checkRangeAidSuitability()
diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp
index 2b0e5fb0a8..882d8906e5 100644
--- a/src/modules/ekf2/EKF/terrain_estimator.cpp
+++ b/src/modules/ekf2/EKF/terrain_estimator.cpp
@@ -366,5 +366,4 @@ void Ekf::fuseHaglAllStates()
 			_innov_check_fail_status.flags.reject_ver_pos = true;
 		}
 	}
-	updateTerrainValidity();
 }