diff --git a/EKF/terrain_estimator.cpp b/EKF/terrain_estimator.cpp
index 221088ff77..2089316564 100644
--- a/EKF/terrain_estimator.cpp
+++ b/EKF/terrain_estimator.cpp
@@ -137,31 +137,25 @@ void Ekf::fuseHagl()
 		float gate_size = fmaxf(_params.range_innov_gate, 1.0f);
 		_terr_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var);
 
-		if (!_inhibit_gndobs_use) {
-			if (_terr_test_ratio <= 1.0f) {
-				// calculate the Kalman gain
-				float gain = _terrain_var / _hagl_innov_var;
-				// correct the state
-				_terrain_vpos -= gain * _hagl_innov;
-				// correct the variance
-				_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
-				// record last successful fusion event
-				_time_last_hagl_fuse = _time_last_imu;
-				_innov_check_fail_status.flags.reject_hagl = false;
-
+		if (_terr_test_ratio <= 1.0f) {
+			// calculate the Kalman gain
+			float gain = _terrain_var / _hagl_innov_var;
+			// correct the state
+			_terrain_vpos -= gain * _hagl_innov;
+			// correct the variance
+			_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
+			// record last successful fusion event
+			_time_last_hagl_fuse = _time_last_imu;
+			_innov_check_fail_status.flags.reject_hagl = false;
+		} else {
+			// If we have been rejecting range data for too long, reset to measurement
+			if (_time_last_imu - _time_last_hagl_fuse > (uint64_t)10E6) {
+				_terrain_vpos = _state.pos(2) + meas_hagl;
+				_terrain_var = obs_variance;
 			} else {
-				// If we have been rejecting range data for too long, reset to measurement
-				if (_time_last_imu - _time_last_hagl_fuse > (uint64_t)10E6) {
-					_terrain_vpos = _state.pos(2) + meas_hagl;
-					_terrain_var = obs_variance;
-
-				} else {
-					_innov_check_fail_status.flags.reject_hagl = true;
-				}
+				_innov_check_fail_status.flags.reject_hagl = true;
 			}
 		}
-
-
 	} else {
 		_innov_check_fail_status.flags.reject_hagl = true;
 		return;