diff --git a/EKF/Sensor.hpp b/EKF/Sensor.hpp
index 0ff2e5cfad..a3fe91c8fe 100644
--- a/EKF/Sensor.hpp
+++ b/EKF/Sensor.hpp
@@ -70,6 +70,12 @@ public:
 	 * and can be fused in the estimator
 	 */
 	virtual bool isDataHealthy() const = 0;
+
+	/*
+	 * return true if the sensor data rate is
+	 * stable and high enough
+	 */
+	virtual bool isRegularlySendingData() const = 0;
 };
 
 } // namespace sensor
diff --git a/EKF/control.cpp b/EKF/control.cpp
index fb0847e09f..b35ca6f842 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -989,8 +989,8 @@ void Ekf::controlHeightFusion()
 				}
 			}
 
-		} else if (_baro_data_ready && !_baro_hgt_faulty) {
-			startBaroHgtFusion();
+		} else if (_control_status.flags.baro_hgt && _baro_data_ready && !_baro_hgt_faulty) {
+			// fuse baro data if there was a reset to baro
 			fuse_height = true;
 		}
 
@@ -1055,16 +1055,17 @@ void Ekf::controlHeightFusion()
 
 	updateBaroHgtOffset();
 
-	if (isTimedOut(_time_last_hgt_fuse, 2 * RNG_MAX_INTERVAL) && _control_status.flags.rng_hgt
-	    && (!_range_sensor.isDataHealthy())) {
+	if (_control_status.flags.rng_hgt
+	    && isTimedOut(_time_last_hgt_fuse, 2 * RNG_MAX_INTERVAL)
+	    && !_range_sensor.isDataHealthy()
+	    && _range_sensor.isRegularlySendingData()
+	    && !_control_status.flags.in_air) {
 
 		// If we are supposed to be using range finder data as the primary height sensor, have missed or rejected measurements
 		// and are on the ground, then synthesise a measurement at the expected on ground value
-		if (!_control_status.flags.in_air) {
-			_range_sensor.setRange(_params.rng_gnd_clearance);
-			_range_sensor.setDataReadiness(true);
-			_range_sensor.setValidity(true); // bypass the checks
-		}
+		_range_sensor.setRange(_params.rng_gnd_clearance);
+		_range_sensor.setDataReadiness(true);
+		_range_sensor.setValidity(true); // bypass the checks
 
 		fuse_height = true;
 	}
diff --git a/EKF/sensor_range_finder.cpp b/EKF/sensor_range_finder.cpp
index 5fc8630d6a..b4ea510566 100644
--- a/EKF/sensor_range_finder.cpp
+++ b/EKF/sensor_range_finder.cpp
@@ -64,9 +64,12 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
 
 	if (isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
 		_is_sample_valid = false;
+		_is_regularly_sending_data = false;
 		return;
 	}
 
+	_is_regularly_sending_data = true;
+
 	// Don't run the checks unless we have retrieved new data from the buffer
 	if (_is_sample_ready) {
 		_is_sample_valid = false;
diff --git a/EKF/sensor_range_finder.hpp b/EKF/sensor_range_finder.hpp
index f4c8bdb625..d0aa23e046 100644
--- a/EKF/sensor_range_finder.hpp
+++ b/EKF/sensor_range_finder.hpp
@@ -57,6 +57,7 @@ public:
 	void runChecks(uint64_t current_time_us, const matrix::Dcmf &R_to_earth);
 	bool isHealthy() const override { return _is_sample_valid; }
 	bool isDataHealthy() const override { return _is_sample_ready && _is_sample_valid; }
+	bool isRegularlySendingData() const override { return _is_regularly_sending_data; }
 
 	void setSample(const rangeSample &sample) {
 		_sample = sample;
@@ -115,6 +116,7 @@ private:
 
 	bool _is_sample_ready{};	///< true when new range finder data has fallen behind the fusion time horizon and is available to be fused
 	bool _is_sample_valid{};	///< true if range finder sample retrieved from buffer is valid
+	bool _is_regularly_sending_data{false}; ///< true if the interval between two samples is less than the maximum expected interval
 	uint64_t _time_last_valid_us{};	///< time the last range finder measurement was ready (uSec)
 
 	/*
diff --git a/test/test_EKF_fusionLogic.cpp b/test/test_EKF_fusionLogic.cpp
index ca7ef3b37e..ad08da3ea8 100644
--- a/test/test_EKF_fusionLogic.cpp
+++ b/test/test_EKF_fusionLogic.cpp
@@ -337,17 +337,26 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
 	// WHEN: commanding range height and sending range data
 	_ekf_wrapper.setRangeHeight();
 	_sensor_simulator.startRangeFinder();
-	_sensor_simulator.runSeconds(2.5);
-
+	_sensor_simulator.runSeconds(2.5f);
 	// THEN: EKF should intend to fuse range height
 	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
 
+	const float dt = 8e-3f;
+	for (int i = 0; i < 5; i++) {
+		_sensor_simulator.runSeconds(dt);
+		// THEN: EKF should intend to fuse range height, even if
+		// there is no new data at each EKF iteration (EKF rate > sensor rate)
+		EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
+	}
+
 	// WHEN: stop sending range data
 	_sensor_simulator.stopRangeFinder();
-	_sensor_simulator.runSeconds(2.5);
+	_sensor_simulator.runSeconds(5.1);
 
 	// THEN: EKF should stop to intend to use range height
+	// and fall back to baro height
 	EXPECT_FALSE(_ekf_wrapper.isIntendingRangeHeightFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
 }
 
 TEST_F(EkfFusionLogicTest, doVisionHeightFusion)