From 2eb627775aec531b56602d69a2a816c302f04c02 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <priseborough@sypaq.com.au>
Date: Mon, 21 Nov 2022 20:28:20 +1100
Subject: [PATCH] AP_NavEKF3: Prevent on ground range to ground being used in
 flight

---
 libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 5398f7acac..d2559438cc 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -90,7 +90,7 @@ void NavEKF3_core::readRangeFinder(void)
                 // indicate we have updated the measurement
                 rngValidMeaTime_ms = imuSampleTime_ms;
 
-            } else if (!takeOffDetected && ((imuSampleTime_ms - rngValidMeaTime_ms) > 200)) {
+            } else if (onGround && ((imuSampleTime_ms - rngValidMeaTime_ms) > 200)) {
                 // before takeoff we assume on-ground range value if there is no data
                 rangeDataNew.time_ms = imuSampleTime_ms;
                 rangeDataNew.rng = rngOnGnd;