diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index e374c69685..b87eb1b9b8 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -127,12 +127,12 @@ bool Ekf::update()
 		predictState();
 		predictCovariance();
 
-		// run a separate filter for terrain estimation
-		runTerrainEstimator();
-
 		// control fusion of observation data
 		controlFusionModes();
 
+		// run a separate filter for terrain estimation
+		runTerrainEstimator();
+
 	}
 
 	// the output observer always runs