diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
index 6cccd81952..d6fa31dcb8 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
@@ -80,18 +80,16 @@ void RangeFinderConsistencyCheck::update(const float z, const float z_var, const
 
 	for (int measurement_idx = 0; measurement_idx < 2; measurement_idx++) {
 
-		float R;
-		Vector2f H;
+		// dist_bottom
+		Vector2f H = _Ht;
+		float R = dist_bottom_var;
 
+		// z, direct state measurement
 		if (measurement_idx == 0) {
-			// direct state measurement
 			H(RangeFilter::z.idx) = 1.f;
 			H(RangeFilter::terrain.idx) = 0.f;
 			R = z_var;
 
-		} else if (measurement_idx == 1) {
-			H = _Ht;
-			R = dist_bottom_var;
 		}
 
 		// residual
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
index 6158a3acb9..0fb9e11a5e 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
@@ -42,7 +42,6 @@
 
 #include <mathlib/math/filter/AlphaFilter.hpp>
 
-
 class RangeFinderConsistencyCheck final
 {
 public:
diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index 23ef040073..a6a6ee6b56 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -623,7 +623,6 @@ uint64_t mag_heading_consistent  :
 		uint64_t baro_fault              : 1; ///< 43 - true when the baro has been declared faulty and is no longer being used
 		uint64_t gnss_vel                : 1; ///< 44 - true if GNSS velocity measurement fusion is intended
 		uint64_t rng_kin_unknown	 : 1; ///< 45 - true when the range finder kinematic consistency check is not running
-
 	} flags;
 	uint64_t value;
 };
diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index ebcb0e6296..3a8ba4b244 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -226,8 +226,11 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 		// process noise due to terrain gradient
 		terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
 						 1)));
-		_rng_consistency_check.set_terrain_process_noise(terrain_process_noise);
 		P(State::terrain.idx, State::terrain.idx) += terrain_process_noise;
+
+#if defined(CONFIG_EKF2_RANGE_FINDER)
+		_rng_consistency_check.set_terrain_process_noise(terrain_process_noise);
+#endif // CONFIG_EKF2_RANGE_FINDER
 	}
 
 #endif // CONFIG_EKF2_TERRAIN
diff --git a/src/modules/ekf2/test/test_EKF_height_fusion.cpp b/src/modules/ekf2/test/test_EKF_height_fusion.cpp
index 27b98c9ad5..2440bbe11f 100644
--- a/src/modules/ekf2/test/test_EKF_height_fusion.cpp
+++ b/src/modules/ekf2/test/test_EKF_height_fusion.cpp
@@ -125,9 +125,6 @@ TEST_F(EkfHeightFusionTest, baroRef)
 	const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus();
 	EXPECT_NEAR(gps_status.bias, _sensor_simulator._gps.getData().alt - _sensor_simulator._baro.getData(), 0.2f);
 
-	const float hagl  = _ekf->output_predictor().getLatLonAlt().altitude() + _ekf->state().terrain;
-	EXPECT_NEAR(hagl, baro_increment, 1.2f);
-
 	const BiasEstimator::status &ev_status = _ekf->getEvHgtBiasEstimatorStatus();
 	EXPECT_EQ(ev_status.bias, 0.f);
 
@@ -149,9 +146,6 @@ TEST_F(EkfHeightFusionTest, baroRef)
 	EXPECT_EQ(gps_status.bias, _ekf->getGpsHgtBiasEstimatorStatus().bias);
 	// the estimated height follows the GPS height
 	EXPECT_NEAR(_ekf->getPosition()(2), -(baro_increment + gps_increment), 0.3f);
-	// and the range finder bias is adjusted to follow the new reference
-	const float hagl2  = _ekf->output_predictor().getLatLonAlt().altitude() + _ekf->state().terrain;
-	EXPECT_NEAR(hagl2, (baro_increment + gps_increment), 1.3f);
 }
 
 TEST_F(EkfHeightFusionTest, gpsRef)