From 493e35b72e9ed2531e10f16438fdc08f94ec7c0b Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Wed, 9 Feb 2022 17:44:22 +0100
Subject: [PATCH] ekf_terr: reset rng fault when on ground

---
 src/modules/ekf2/EKF/terrain_estimator.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp
index 3a1b4d072f..9ba6db7242 100644
--- a/src/modules/ekf2/EKF/terrain_estimator.cpp
+++ b/src/modules/ekf2/EKF/terrain_estimator.cpp
@@ -53,6 +53,7 @@ void Ekf::runTerrainEstimator()
 	// If we are on ground, store the local position and time to use as a reference
 	if (!_control_status.flags.in_air) {
 		_last_on_ground_posD = _state.pos(2);
+		_control_status.flags.rng_fault = false;
 	}
 
 	predictHagl();