diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
index 680dd06a74..35cbcd0c9e 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp
@@ -76,7 +76,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
 	if (_is_sample_ready) {
 		_is_sample_valid = false;
 
-		_time_bad_quality_us = _sample.quality == 0 ? current_time_us : _time_last_valid_us;
+		_time_bad_quality_us = _sample.quality == 0 ? current_time_us : _time_bad_quality_us;
 
 		const bool quality_ok = isQualityOk(current_time_us);