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 35d56422f2..712aa1aca3 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
@@ -81,6 +81,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 			// 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
 			if (!_control_status.flags.in_air
+			    && _control_status.flags.vehicle_at_rest
 			    && _range_sensor.isRegularlySendingData()
 			    && _range_sensor.isDataReady()) {
 
@@ -105,14 +106,12 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		const bool continuing_conditions_passing = ((_params.ekf2_rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED))
 				|| (_params.ekf2_rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)))
 				&& _control_status.flags.tilt_align
-				&& measurement_valid
-				&& _range_sensor.isDataHealthy()
-				&& _rng_consistency_check.isKinematicallyConsistent();
+				&& measurement_valid;
 
 		const bool starting_conditions_passing = continuing_conditions_passing
 				&& isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)
-				&& _range_sensor.isRegularlySendingData();
-
+				&& _range_sensor.isRegularlySendingData()
+				&& _range_sensor.isDataHealthy();
 
 		const bool do_conditional_range_aid = (_control_status.flags.rng_terrain || _control_status.flags.rng_hgt)
 						      && (_params.ekf2_rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
@@ -129,7 +128,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 
 		} else {
 			if (_params.ekf2_hgt_ref == static_cast<int32_t>(HeightSensor::RANGE)) {
-				if (do_conditional_range_aid) {
+				if (do_conditional_range_aid && starting_conditions_passing) {
 					// Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference.
 					ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME);
 					_height_sensor_ref = HeightSensor::RANGE;
@@ -142,7 +141,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}
 
-				} else if (do_range_aid) {
+				} else if (do_range_aid && starting_conditions_passing) {
 					// Range finder is the primary height source, the ground is now the datum used
 					// to compute the local vertical position
 					ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
@@ -159,7 +158,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 				}
 
 			} else {
-				if (do_conditional_range_aid || do_range_aid) {
+				if ((do_conditional_range_aid || do_range_aid) && starting_conditions_passing) {
 					ECL_INFO("starting %s height fusion", HGT_SRC_NAME);
 					_control_status.flags.rng_hgt = true;
 
@@ -174,11 +173,19 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		if (_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) {
 			if (continuing_conditions_passing) {
 
-				fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain);
+				if (_range_sensor.isDataHealthy()
+				    && _control_status.flags.rng_kin_consistent
+				   ) {
+					fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _control_status.flags.rng_terrain);
+				}
 
 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
 
-				if (isHeightResetRequired() && _control_status.flags.rng_hgt && (_height_sensor_ref == HeightSensor::RANGE)) {
+				if (isHeightResetRequired()
+				    && _control_status.flags.rng_hgt
+				    && (_height_sensor_ref == HeightSensor::RANGE)
+				    && starting_conditions_passing
+				   ) {
 					// All height sources are failing
 					ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
 
@@ -200,7 +207,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 						stopRngHgtFusion();
 						stopRngTerrFusion();
 
-					} else {
+					} else if (starting_conditions_passing) {
 						resetTerrainToRng(aid_src);
 						resetAidSourceStatusZeroInnovation(aid_src);
 					}