From c56f84fe8a089d1cd16480f5e9c3269001196b66 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 27 Jun 2024 18:28:42 -0400
Subject: [PATCH] ekf2: range, check if terrain valid for reset on fusion
 timeout

---
 .../ekf2/EKF/aid_sources/range_finder/range_height_control.cpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

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 104ec47d91..93e15766ea 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
@@ -187,7 +187,7 @@ void Ekf::controlRangeHaglFusion()
 
 				} else if (is_fusion_failing) {
 					// Some other height source is still working
-					if (_hagl_sensor_status.flags.flow) {
+					if (_hagl_sensor_status.flags.flow && isTerrainEstimateValid()) {
 						ECL_WARN("stopping %s fusion, fusion failing", HGT_SRC_NAME);
 						stopRngHgtFusion();
 						stopRngTerrFusion();