diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
index 780a38b88b..2a455185e1 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
@@ -52,6 +52,7 @@ void RangeFinderConsistencyCheck::init(const float z, const float z_var, const f
 	_initialized = true;
 	_test_ratio_lpf.reset(0.f);
 	_t_since_first_sample = 0.f;
+	_state = KinematicState::kUnknown;
 }
 
 void RangeFinderConsistencyCheck::update(const float z, const float z_var, const float vz, const float vz_var,
diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
index 72bd904e66..4c948e3740 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
@@ -57,7 +57,7 @@ public:
 	float getTestRatioLpf() const { return _initialized ? _test_ratio_lpf.getState() : 0.f; }
 	float getInnov() const { return _initialized ? _innov : 0.f; }
 	float getInnovVar() const { return _initialized ? _innov_var : 0.f; }
-	bool isKinematicallyConsistent() const { return _state == KinematicState::kConsistent && _t_since_first_sample > _kTestRatioLpfTimeConstant; }
+	bool isKinematicallyConsistent() const { return _state == KinematicState::kConsistent; }
 	bool isNotKinematicallyInconsistent() const { return _state != KinematicState::kInconsistent && (_t_since_first_sample > _kTestRatioLpfTimeConstant || _landed); }
 	void setGate(const float gate) { _gate = gate; }
 	void run(float z, float z_var, float vz, float vz_var, float dist_bottom, float dist_bottom_var,