AP_NavEKF2: only report terrain estimator innovations with valid rng value

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -579,7 +579,7 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan)
     // height estimation or optical flow operation. This prevents false alarms at the GCS if a
     // range finder is fitted for other applications
     float temp;
-    if ((frontend->_useRngSwHgt > 0) || PV_AidingMode == AID_RELATIVE || flowDataValid) {
+    if (((frontend->_useRngSwHgt > 0) && activeHgtSource == HGT_SOURCE_RNG) || (PV_AidingMode == AID_RELATIVE && flowDataValid)) {
         temp = sqrtf(auxRngTestRatio);
     } else {
         temp = 0.0f;