use baro for the ekf alignment if range finder is primary height source

EKF/ekf.cpp

@@ -204,34 +204,9 @@ bool Ekf::initialiseFilter()
 	}
 
 	// accumulate enough height measurements to be confident in the qulaity of the data
-	if (_primary_hgt_source == VDIST_SENSOR_RANGE) {
-		if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_range_sample_delayed)) {
-			if ((_hgt_counter == 0) && (_range_sample_delayed.time_us != 0)) {
-				// initialise the counter height fusion method when we start getting data from the buffer
-				_control_status.flags.baro_hgt = false;
-				_control_status.flags.gps_hgt = false;
-				_control_status.flags.rng_hgt = true;
-				_control_status.flags.ev_hgt = false;
-				_hgt_counter = 1;
-
-			} else if ((_hgt_counter != 0) && (_range_sample_delayed.time_us != 0)) {
-				// increment the sample count and apply a LPF to the measurement
-				_hgt_counter ++;
-
-				// don't start using data until we can be certain all bad initial data has been flushed
-				if (_hgt_counter == (uint8_t)(_obs_buffer_length + 1)) {
-					// initialise filter states
-					_rng_filt_state = _range_sample_delayed.rng;
-
-				} else if (_hgt_counter > (uint8_t)(_obs_buffer_length + 1)) {
-					// noise filter the data
-					_rng_filt_state = 0.9f * _rng_filt_state + 0.1f * _range_sample_delayed.rng;
-				}
-			}
-		}
-
-	} else if (_primary_hgt_source == VDIST_SENSOR_BARO || _primary_hgt_source == VDIST_SENSOR_GPS) {
-		// if the user parameter specifies use of GPS for height we use baro height initially and switch to GPS
+	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
 		// 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)) {