I was checking the Ekf::controlHeightSensorTimeouts() method to see the height sensor switching algorithms in case of hgt_fusion_timeout. I noticed that it never resets to range sensor when the fusion mode is neither baro nor the gps. Similarly it never resets to GPS height but only to baro when the fusion mode is range sensor.
I am wondering If there exist a special reason for EKF not to reset to available GPS height source in case the EKF2_HGT_MODE was set to range sensor and neither range sensor nor the baro became available for a particular time during the operation?
I hope to find an answer, thanks in advance.