From 56b8bb08a16f0e86f7c7dfe458f0d2d3082e92e4 Mon Sep 17 00:00:00 2001
From: dakejahl <37091262+dakejahl@users.noreply.github.com>
Date: Thu, 23 Aug 2018 16:42:58 -0400
Subject: [PATCH] added a checking for range_aid to determine if we are relying
 on the range finder as our primary source of height observation (#491)

---
 EKF/ekf_helper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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);