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;