convert range kin consistency into kin valid

msg/EstimatorStatusFlags.msg

@@ -35,7 +35,7 @@ bool cs_gps_yaw_fault         # 27 - true when the GNSS heading has been declare
 bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
 bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements
-bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic consistency check is passing
+bool cs_rng_kin_valid           # 31 - true when the range finder data is healthy and the kinematic consistency check is passing
 bool cs_fake_pos                # 32 - true when fake position measurements are being fused
 bool cs_fake_hgt                # 33 - true when fake height measurements are being fused
 bool cs_gravity_vector          # 34 - true when gravity vector measurements are being fused

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -86,7 +86,9 @@ void Ekf::controlRangeHeightFusion()
 			}
 		}
 
-		_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
+		if (_range_sensor.isDataReady()) {
+			_control_status.flags.rng_kin_valid = _rng_consistency_check.isKinematicallyConsistent() && _range_sensor.isHealthy();
+		}
 
 	} else {
 		return;

src/modules/ekf2/EKF/common.h

@@ -578,7 +578,7 @@ union filter_control_status_u {
 		uint64_t rng_fault               : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
 		uint64_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 		uint64_t wind_dead_reckoning     : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
-		uint64_t rng_kin_consistent      : 1; ///< 31 - true when the range finder kinematic consistency check is passing
+		uint64_t rng_kin_valid           : 1; ///< 31 - true when the range finder data is healthy and the kinematic consistency check is passing
 		uint64_t fake_pos                : 1; ///< 32 - true when fake position measurements are being fused
 		uint64_t fake_hgt                : 1; ///< 33 - true when fake height measurements are being fused
 		uint64_t gravity_vector          : 1; ///< 34 - true when gravity vector measurements are being fused

src/modules/ekf2/EKF2.cpp

@@ -1908,7 +1908,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_rng_fault             = _ekf.control_status_flags().rng_fault;
 		status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
 		status_flags.cs_wind_dead_reckoning     = _ekf.control_status_flags().wind_dead_reckoning;
-		status_flags.cs_rng_kin_consistent      = _ekf.control_status_flags().rng_kin_consistent;
+		status_flags.cs_rng_kin_valid           = _ekf.control_status_flags().rng_kin_valid;
 		status_flags.cs_fake_pos                = _ekf.control_status_flags().fake_pos;
 		status_flags.cs_fake_hgt                = _ekf.control_status_flags().fake_hgt;
 		status_flags.cs_gravity_vector          = _ekf.control_status_flags().gravity_vector;