diff --git a/src/lib/ecl b/src/lib/ecl
index 6b5f011bc2..fd1ecb7fed 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit 6b5f011bc224a45fd57d33e90cc7a136aa075b6c
+Subproject commit fd1ecb7fedb8d06574ba7936e9f1bb6da33d98e8
diff --git a/src/modules/ekf2/Utility/PreFlightChecker.cpp b/src/modules/ekf2/Utility/PreFlightChecker.cpp
index 9d2aab6544..f4e8441180 100644
--- a/src/modules/ekf2/Utility/PreFlightChecker.cpp
+++ b/src/modules/ekf2/Utility/PreFlightChecker.cpp
@@ -95,14 +95,15 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
 
 bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha)
 {
-	const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel));
+	const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel));     // only temporary solution
 	const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
 	return checkInnovFailed(vel_d_innov, vel_d_innov_lpf, _vel_innov_test_lim);
 }
 
 bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha)
 {
-	const float hgt_innov = innov.gps_vpos;    // HACK: height innovation independent of sensor is published on gps_vpos
+	const float hgt_innov = fmaxf(fabsf(innov.gps_vpos), fmaxf(fabs(innov.ev_vpos),
+				      fabs(innov.rng_vpos)));    // only temporary solution
 	const float hgt_innov_lpf = _filter_hgt_innov.update(hgt_innov, alpha, _hgt_innov_spike_lim);
 	return checkInnovFailed(hgt_innov, hgt_innov_lpf, _hgt_innov_test_lim);
 }
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 70efd09908..e3533cdba7 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1610,6 +1610,8 @@ void Ekf2::Run()
 				_ekf.getGpsVelPosInnov(&innovations.gps_hvel[0], innovations.gps_vvel, &innovations.gps_hpos[0],
 						       innovations.gps_vpos);
 				_ekf.getEvVelPosInnov(&innovations.ev_hvel[0], innovations.ev_vvel, &innovations.ev_hpos[0], innovations.ev_vpos);
+				_ekf.getBaroHgtInnov(innovations.baro_vpos);
+				_ekf.getRngHgtInnov(innovations.rng_vpos);
 				_ekf.getAuxVelInnov(&innovations.aux_hvel[0]);
 				_ekf.getFlowInnov(&innovations.flow[0]);
 				_ekf.getHeadingInnov(innovations.heading);
@@ -1626,6 +1628,8 @@ void Ekf2::Run()
 							  innovation_var.gps_vpos);
 				_ekf.getEvVelPosInnovVar(&innovation_var.ev_hvel[0], innovation_var.ev_vvel, &innovation_var.ev_hpos[0],
 							 innovation_var.ev_vpos);
+				_ekf.getBaroHgtInnovVar(innovation_var.baro_vpos);
+				_ekf.getRngHgtInnovVar(innovation_var.rng_vpos);
 				_ekf.getAuxVelInnovVar(&innovation_var.aux_hvel[0]);
 				_ekf.getFlowInnovVar(&innovation_var.flow[0]);
 				_ekf.getHeadingInnovVar(innovation_var.heading);
@@ -1642,6 +1646,8 @@ void Ekf2::Run()
 							    test_ratios.gps_vpos);
 				_ekf.getEvVelPosInnovRatio(test_ratios.ev_hvel[0], test_ratios.ev_vvel, test_ratios.ev_hpos[0],
 							   test_ratios.ev_vpos);
+				_ekf.getBaroHgtInnovRatio(test_ratios.baro_vpos);
+				_ekf.getRngHgtInnovRatio(test_ratios.rng_vpos);
 				_ekf.getAuxVelInnovRatio(test_ratios.aux_hvel[0]);
 				_ekf.getFlowInnovRatio(test_ratios.flow[0]);
 				_ekf.getHeadingInnovRatio(test_ratios.heading);