From 171e80d8dc0192328cb688221eb0992552c354ef Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@azurdrones.com>
Date: Thu, 14 Dec 2017 00:01:53 +0100
Subject: [PATCH] AP_NavEKF2: only report terrain estimator innovations with
 valid rng value

---
 libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 87140b193f..4f4710d7bd 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -579,7 +579,7 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan)
     // height estimation or optical flow operation. This prevents false alarms at the GCS if a
     // range finder is fitted for other applications
     float temp;
-    if ((frontend->_useRngSwHgt > 0) || PV_AidingMode == AID_RELATIVE || flowDataValid) {
+    if (((frontend->_useRngSwHgt > 0) && activeHgtSource == HGT_SOURCE_RNG) || (PV_AidingMode == AID_RELATIVE && flowDataValid)) {
         temp = sqrtf(auxRngTestRatio);
     } else {
         temp = 0.0f;