From 1222559da0fa0804b495b85793c0c1bc330f507a Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Thu, 16 Oct 2014 17:28:00 +1100
Subject: [PATCH] AP_NavEKF : Fix bug affecting sonar fusion

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 4c2f4e87f9..8dd9d075f2 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3996,6 +3996,7 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
     }
     // Use range finder if 3 or more consecutive good samples. This reduces likelihood of using bad data.
     if (rangeHealth >= 3) {
+        statesAtRngTime = statesAtFlowTime;
         rngMea = rawSonarRange;
         newDataRng = true;
     } else {