From 344d621a0868fc69d1401697ebceaa5b0bccbe79 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sat, 16 May 2020 11:45:06 +1000
Subject: [PATCH] AP_NavEKF3: Add missing fallback to baro for range beacon use
 case

---
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 53fbe9e11c..ddf08c150c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1034,7 +1034,8 @@ void NavEKF3_core::selectHeightForFusion()
     bool lostRngHgt = ((activeHgtSource == HGT_SOURCE_RNG) && ((imuSampleTime_ms - rngValidMeaTime_ms) > 500));
     bool lostGpsHgt = ((activeHgtSource == HGT_SOURCE_GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) > 2000));
     bool lostExtNavHgt = ((activeHgtSource == HGT_SOURCE_EXTNAV) && ((imuSampleTime_ms - extNavMeasTime_ms) > 2000));
-    if (lostRngHgt || lostGpsHgt || lostExtNavHgt) {
+    bool lostRngBcnHgt = ((activeHgtSource == HGT_SOURCE_BCN) && ((imuSampleTime_ms - rngBcnDataDelayed.time_ms) > 2000));
+    if (lostRngHgt || lostGpsHgt || lostExtNavHgt || lostRngBcnHgt) {
         activeHgtSource = HGT_SOURCE_BARO;
     }