ekf2-rng-kin: allow invalidating at any vertical speed

The issue is that when the HAGL is low, the drone will usually
decelerate and then the check would run anymore. If the low HAGL
estimate is due to bad sensor readings (e.g.: reflections), it will be
stuck in that state.

src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp

@@ -74,19 +74,15 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
 
 void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
 {
-	if (fabsf(vz) < _min_vz_for_valid_consistency) {
-		// We can only check consistency if there is vertical motion
-		return;
-	}
-
 	if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
 		if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) {
 			_is_kinematically_consistent = false;
 			_time_last_inconsistent_us = time_us;
 		}
 
 	} else {
-		if ((_test_ratio < 1.f)
+		if ((fabsf(vz) < _min_vz_for_valid_consistency)
+		    && (_test_ratio < 1.f)
 		    && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)
 		   ) {
 			_is_kinematically_consistent = true;