diff --git a/src/modules/ekf2/EKF/terrain_control.cpp b/src/modules/ekf2/EKF/terrain_control.cpp
index afb845a662ec..d00502228964 100644
--- a/src/modules/ekf2/EKF/terrain_control.cpp
+++ b/src/modules/ekf2/EKF/terrain_control.cpp
@@ -63,13 +63,12 @@ void Ekf::controlTerrainFakeFusion()
 		initTerrain();
 	}
 
-	if (!_control_status.flags.in_air
-	    && !_control_status.flags.rng_terrain
-	    && !_control_status.flags.opt_flow_terrain) {
-
-		bool recent_terrain_aiding = isRecent(_time_last_terrain_fuse, (uint64_t)1e6);
+	if (!_control_status.flags.in_air) {
+		bool no_terrain_aiding = !_control_status.flags.rng_terrain
+					 && !_control_status.flags.opt_flow_terrain
+					 && isTimedOut(_time_last_terrain_fuse, (uint64_t)1e6);
 
-		if (_control_status.flags.vehicle_at_rest || !recent_terrain_aiding) {
+		if (no_terrain_aiding && (_height_sensor_ref != HeightSensor::RANGE)) {
 			initTerrain();
 		}
 	}