diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 59c55686ee..d064038934 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -947,6 +947,7 @@ private:
     void read_barometer(void);
     void init_rangefinder(void);
     int16_t read_rangefinder(void);
+    bool rangefinder_alt_ok();
     void init_compass();
     void init_optflow();
     void update_optical_flow(void);
diff --git a/ArduCopter/control_althold.cpp b/ArduCopter/control_althold.cpp
index a9da150e95..0756ed49b4 100644
--- a/ArduCopter/control_althold.cpp
+++ b/ArduCopter/control_althold.cpp
@@ -159,8 +159,8 @@ void Copter::althold_run()
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
 
-        // call throttle controller
-        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+        // adjust climb rate using rangefinder
+        if (rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
diff --git a/ArduCopter/control_circle.cpp b/ArduCopter/control_circle.cpp
index e1a927ef5f..001621b524 100644
--- a/ArduCopter/control_circle.cpp
+++ b/ArduCopter/control_circle.cpp
@@ -90,8 +90,8 @@ void Copter::circle_run()
         attitude_control.input_euler_angle_roll_pitch_yaw(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
     }
 
-    // run altitude controller
-    if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+    // adjust climb rate using rangefinder
+    if (rangefinder_alt_ok()) {
         // if rangefinder is ok, use surface tracking
         target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
     }
diff --git a/ArduCopter/control_loiter.cpp b/ArduCopter/control_loiter.cpp
index 99b3ba63f3..38a22afc43 100644
--- a/ArduCopter/control_loiter.cpp
+++ b/ArduCopter/control_loiter.cpp
@@ -180,8 +180,8 @@ void Copter::loiter_run()
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
 
-        // run altitude controller
-        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+        // adjust climb rate using rangefinder
+        if (rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
diff --git a/ArduCopter/control_poshold.cpp b/ArduCopter/control_poshold.cpp
index e4ce12fc24..604a66565e 100644
--- a/ArduCopter/control_poshold.cpp
+++ b/ArduCopter/control_poshold.cpp
@@ -519,8 +519,8 @@ void Copter::poshold_run()
         // update attitude controller targets
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(poshold.roll, poshold.pitch, target_yaw_rate);
 
-        // throttle control
-        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+        // adjust climb rate using rangefinder
+        if (rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
diff --git a/ArduCopter/control_sport.cpp b/ArduCopter/control_sport.cpp
index 3761183aa5..e59730e533 100644
--- a/ArduCopter/control_sport.cpp
+++ b/ArduCopter/control_sport.cpp
@@ -107,8 +107,8 @@ void Copter::sport_run()
         // call attitude controller
         attitude_control.input_euler_rate_roll_pitch_yaw(target_roll_rate, target_pitch_rate, target_yaw_rate);
 
-        // call throttle controller
-        if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+        // adjust climb rate using rangefinder
+        if (rangefinder_alt_ok()) {
             // if rangefinder is ok, use surface tracking
             target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
         }
diff --git a/ArduCopter/precision_landing.cpp b/ArduCopter/precision_landing.cpp
index 377f3a5a8e..5fb594e338 100644
--- a/ArduCopter/precision_landing.cpp
+++ b/ArduCopter/precision_landing.cpp
@@ -18,7 +18,7 @@ void Copter::update_precland()
     float final_alt = current_loc.alt;
 
     // use range finder altitude if it is valid
-    if (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX)) {
+    if (rangefinder_alt_ok()) {
         final_alt = rangefinder_alt;
     }
 
diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index c4cbc0378a..d782153ebf 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -69,6 +69,12 @@ int16_t Copter::read_rangefinder(void)
 #endif
 }
 
+// return true if rangefinder_alt can be used
+bool Copter::rangefinder_alt_ok()
+{
+    return (rangefinder_enabled && (rangefinder_alt_health >= RANGEFINDER_HEALTH_MAX));
+}
+
 /*
   update RPM sensors
  */