From 80146273ba90e882b21047c641adfa67b32a536b Mon Sep 17 00:00:00 2001
From: dakejahl <37091262+dakejahl@users.noreply.github.com>
Date: Fri, 13 Jul 2018 15:16:25 -0600
Subject: [PATCH] removed if statement that would prevent the update of the
 _rng_hgt_faulty flag (#480)

---
 EKF/control.cpp | 16 +++++++---------
 1 file changed, 7 insertions(+), 9 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 3b3559c952..e5c21b93c2 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -110,17 +110,15 @@ void Ekf::controlFusionModes()
 	// Get range data from buffer and check validity
 	_range_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_range_sample_delayed);
 
-	if (_range_data_ready) {
-		checkRangeDataValidity();
+	checkRangeDataValidity();
 
-		if (_range_data_ready && !_rng_hgt_faulty) {
-			// correct the range data for position offset relative to the IMU
-			Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
-			Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
-			_range_sample_delayed.rng += pos_offset_earth(2) / _R_rng_to_earth_2_2;
-		}
+	if (_range_data_ready && !_rng_hgt_faulty) {
+		// correct the range data for position offset relative to the IMU
+		Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
+		Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
+		_range_sample_delayed.rng += pos_offset_earth(2) / _R_rng_to_earth_2_2;
 	}
-
+	
 	// We don't fuse flow data immediately because we have to wait for the mid integration point to fall behind the fusion time horizon.
 	// This means we stop looking for new data until the old data has been fused.
 	if (!_flow_data_ready) {