diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 95f41341c7..6da8f2b767 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -190,8 +190,8 @@ bool Ekf::initialiseFilter() // accumulate enough height measurements to be confident in the qulaity of the data if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS || - _primary_hgt_source == VDIST_SENSOR_RANGE) { - // if the user parameter specifies use of GPS/range finder for height we use baro height initially and switch to GPS/range finder + _primary_hgt_source == VDIST_SENSOR_RANGE || _primary_hgt_source == VDIST_SENSOR_EV) { + // if the user parameter specifies use of GPS/range/EV finder for height we use baro height initially and switch to GPS/range/EV finder // later when it passes checks. if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) { if ((_hgt_counter == 0) && (_baro_sample_delayed.time_us != 0)) {