From 5f21723efc58e93370629318ce1927e2a05301f3 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 3 May 2018 13:00:03 +1000
Subject: [PATCH] EKF: Fix bug causing simultaneous range and baro heigh fusion

---
 EKF/control.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 71394aebfb..38a1406973 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -836,8 +836,7 @@ void Ekf::controlHeightFusion()
 				}
 			}
 
-		} else if (_baro_data_ready && !_baro_hgt_faulty &&
-			         !(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
+		} else if (!_in_range_aid_mode && _baro_data_ready && !_baro_hgt_faulty) {
 			setControlBaroHeight();
 			_fuse_height = true;
 			_in_range_aid_mode = false;
@@ -920,8 +919,7 @@ void Ekf::controlHeightFusion()
 				}
 			}
 
-		} else if (_gps_data_ready && !_gps_hgt_faulty &&
-		           !(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
+		} else if (!_in_range_aid_mode && _gps_data_ready && !_gps_hgt_faulty) {
 			setControlGPSHeight();
 			_fuse_height = true;
 			_in_range_aid_mode = false;