diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index c8fe907651..de4306cfa7 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -793,7 +793,7 @@ void NavEKF3_core::selectHeightForFusion()
     baroDataToFuse = storedBaro.recall(baroDataDelayed, imuDataDelayed.time_ms);
 
     // select height source
-    if (((frontend->_useRngSwHgt > 0) || (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
+    if (((frontend->_useRngSwHgt > 0) && (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
         if (frontend->_altSource == 1) {
             // always use range finder
             activeHgtSource = HGT_SOURCE_RNG;