ekf: requires kinematically consistent range finder data to continue terrain aiding

src/modules/ekf2/EKF/terrain_estimator.cpp

@@ -95,9 +95,9 @@ void Ekf::controlHaglRngFusion()
 	}
 
 	if (_range_sensor.isDataHealthy()) {
-		const bool continuing_conditions_passing = _control_status.flags.in_air;
+		const bool continuing_conditions_passing = _control_status.flags.in_air && _rng_consistency_check.isKinematicallyConsistent();
 		//const bool continuing_conditions_passing = _control_status.flags.in_air && !_control_status.flags.rng_hgt; // TODO: should not be fused when using range height
-		const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData();
+		const bool starting_conditions_passing = continuing_conditions_passing && _range_sensor.isRegularlySendingData() && (_rng_consistency_check.getTestRatio() < 1.f);
 
 		_time_last_healthy_rng_data = _time_last_imu;