diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 289e7ced14..25c30bbe0a 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -949,8 +949,10 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
 		bool bad_acc_bias = (fabsf(down_dvel_bias) > dVel_bias_lim
 				     && ( (down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
 				     ||   (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel) )
-				     && ( (down_dvel_bias * _gps_pos_innov(2) < 0.0f  && _control_status.flags.gps_hgt)
-				     ||   (down_dvel_bias * _baro_hgt_innov(2) < 0.0f  && _control_status.flags.baro_hgt) ) );
+				     && ( (down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
+				     ||   (down_dvel_bias * _baro_hgt_innov(2) < 0.0f && _control_status.flags.baro_hgt)
+				     ||   (down_dvel_bias * _rng_hgt_innov(2) < 0.0f && _control_status.flags.rng_hgt)
+				     ||   (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt) ) );
 
 		// record the pass/fail
 		if (!bad_acc_bias) {