diff --git a/EKF/common.h b/EKF/common.h
index 5954d619b0..3eadc087fc 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -433,6 +433,7 @@ union filter_control_status_u {
 		uint32_t mag_fault   : 1; ///< 18 - true when the magnetomer has been declared faulty and is no longer being used
 		uint32_t fuse_aspd   : 1; ///< 19 - true when airspeed measurements are being fused
 		uint32_t gnd_effect  : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
+		uint32_t rng_stuck   : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
 	} flags;
 	uint32_t value;
 };
diff --git a/EKF/control.cpp b/EKF/control.cpp
index c706dfec9f..67439bd42c 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1033,14 +1033,14 @@ void Ekf::checkForStuckRange()
 {
 	if (_range_data_ready && _range_sample_delayed.time_us - _time_last_rng_ready > (uint64_t)10e6 &&
 			_control_status.flags.in_air) {
-		_rng_stuck = true;
+		_control_status.flags.rng_stuck = true;
 
 		//require a variance of rangefinder values to check for "stuck" measurements
 		if (_rng_check_max_val - _rng_check_min_val > 1.0f) {
 			_time_last_rng_ready = _range_sample_delayed.time_us;
 			_rng_check_min_val = 0.0f;
 			_rng_check_max_val = 0.0f;
-			_rng_stuck = false;
+			_control_status.flags.rng_stuck = false;
 
 		} else {
 			if (_range_sample_delayed.rng > _rng_check_max_val) {
diff --git a/EKF/ekf.h b/EKF/ekf.h
index 33ad1a07d9..6e223a6bfe 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -428,7 +428,6 @@ private:
 	bool _in_range_aid_mode{false};		///< true when range finder is to be used as the height reference instead of the primary height sensor
 
 	// variables used to check for "stuck" rng data
-	bool _rng_stuck{false};		///< true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
 	float _rng_check_min_val{0.0f};		///< minimum value for new rng measurement when being stuck
 	float _rng_check_max_val{0.0f};		///< maximum value for new rng measurement when being stuck
 
diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index 4f18536e48..b54fd9c6ff 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -93,7 +93,7 @@ void Ekf::runTerrainEstimator()
 		_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);
 
 		// Fuse range finder data if available
-		if (_range_data_ready && !_rng_stuck) {
+		if (_range_data_ready && !_control_status.flags.rng_stuck) {
 			fuseHagl();
 
 			// update range sensor angle parameters in case they have changed
@@ -158,7 +158,7 @@ void Ekf::fuseHagl()
 // return true if the terrain estimate is valid
 bool Ekf::get_terrain_valid()
 {
-	if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
+	if (_terrain_initialised && _range_data_continuous && !_control_status.flags.rng_stuck &&
 		  (_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
 		return true;