diff --git a/ArduSub/sensors.cpp b/ArduSub/sensors.cpp
index c838bc7d56..51dc1e8ed4 100644
--- a/ArduSub/sensors.cpp
+++ b/ArduSub/sensors.cpp
@@ -56,7 +56,7 @@ void Sub::read_rangefinder()
 
     // send rangefinder altitude and health to waypoint navigation library
     wp_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
-    circle_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
+    circle_nav.set_rangefinder_alt(rangefinder_state.enabled && wp_nav.rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
 
 #else
     rangefinder_state.enabled = false;