diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
index d904aafe38..9e785d9a6a 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
@@ -66,23 +66,21 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 			const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
 			_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
 
-			if (_control_status.flags.in_air) {
-				const float dist_var = getRngVar();
-				_rng_consistency_check.current_posD_reset_count = get_posD_reset_count();
+			const float dist_var = getRngVar();
+			_rng_consistency_check.current_posD_reset_count = get_posD_reset_count();
 
-				const bool updated_horizontal_motion = sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f);
+			const bool updated_horizontal_motion = sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f);
 
-				if (!updated_horizontal_motion && _rng_consistency_check.horizontal_motion) {
-					_rng_consistency_check.reset();
-				}
-
-				_rng_consistency_check.horizontal_motion = updated_horizontal_motion;
-				const float z_var = P(State::pos.idx + 2, State::pos.idx + 2);
-				const float vz_var = P(State::vel.idx + 2, State::vel.idx + 2);
-				_rng_consistency_check.run(_gpos.altitude(), z_var, _state.vel(2), vz_var, _range_sensor.getDistBottom(),
-							   dist_var, imu_sample.time_us);
+			if (!updated_horizontal_motion && _rng_consistency_check.horizontal_motion) {
+				_rng_consistency_check.reset();
 			}
 
+			_rng_consistency_check.horizontal_motion = updated_horizontal_motion;
+			const float z_var = P(State::pos.idx + 2, State::pos.idx + 2);
+			const float vz_var = P(State::vel.idx + 2, State::vel.idx + 2);
+			_rng_consistency_check.run(_gpos.altitude(), z_var, _state.vel(2), vz_var, _range_sensor.getDistBottom(),
+						   dist_var, imu_sample.time_us);
+
 		} else {
 			// If we are supposed to be using range finder data but have bad range measurements
 			// and are on the ground, then synthesise a measurement at the expected on ground value
diff --git a/src/modules/ekf2/test/test_EKF_flow.cpp b/src/modules/ekf2/test/test_EKF_flow.cpp
index 7e00703971..1bf1fd7849 100644
--- a/src/modules/ekf2/test/test_EKF_flow.cpp
+++ b/src/modules/ekf2/test/test_EKF_flow.cpp
@@ -171,7 +171,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
 	_ekf_wrapper.enableFlowFusion();
 	_sensor_simulator.startFlow();
 	_sensor_simulator.startRangeFinder();
-	_sensor_simulator.runSeconds(1.0);
+	_sensor_simulator.runSeconds(2.0);
 
 	// THEN: estimated velocity should match simulated velocity
 	const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
diff --git a/src/modules/ekf2/test/test_EKF_height_fusion.cpp b/src/modules/ekf2/test/test_EKF_height_fusion.cpp
index 20fc66de47..758733eb55 100644
--- a/src/modules/ekf2/test/test_EKF_height_fusion.cpp
+++ b/src/modules/ekf2/test/test_EKF_height_fusion.cpp
@@ -250,7 +250,7 @@ TEST_F(EkfHeightFusionTest, baroRefFailOver)
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
 
 	_sensor_simulator.stopGps();
-	_sensor_simulator.runSeconds(10);
+	_sensor_simulator.runSeconds(14);
 	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::RANGE);
 
 	_sensor_simulator.stopRangeFinder();