diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index de92e5ee9a..f0f62bcbc9 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -1091,7 +1091,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
 
 	// TODO : calculate visual odometry limits
 
-	bool relying_on_rangefinder = _control_status.flags.rng_hgt;
+	bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
 
 	bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos);