diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp
index 19e12d8f75..12f7c56985 100644
--- a/src/modules/ekf2/EKF/terrain_estimator.cpp
+++ b/src/modules/ekf2/EKF/terrain_estimator.cpp
@@ -239,7 +239,7 @@ void Ekf::updateHaglRng(estimator_aid_source1d_s &aid_src) const
 
 	aid_src.timestamp_sample = _time_delayed_us; // TODO
 
-	aid_src.observation = pred_hagl;
+	aid_src.observation = meas_hagl;
 	aid_src.observation_variance = obs_variance;
 
 	aid_src.innovation = hagl_innov;
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index cdcb36080d..c403b81e70 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -291,6 +291,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_terrain_range_finder", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
 
 #endif /* CONFIG_ARCH_BOARD_PX4_SITL */