diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
index 541dede819..6c33d4db63 100644
--- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
@@ -180,8 +180,10 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 					_information_events.flags.reset_hgt_to_rng = true;
 					resetVerticalPositionTo(-(aid_src.observation - _state.terrain));
 
-					// reset vertical velocity
-					resetVerticalVelocityToZero();
+					// reset vertical velocity if no valid sources available
+					if (!isVerticalVelocityAidingActive()) {
+						resetVerticalVelocityToZero();
+					}
 
 					aid_src.time_last_fuse = imu_sample.time_us;
 
diff --git a/src/modules/ekf2/test/test_EKF_terrain.cpp b/src/modules/ekf2/test/test_EKF_terrain.cpp
index c3c2ad6714..5549eb8030 100644
--- a/src/modules/ekf2/test/test_EKF_terrain.cpp
+++ b/src/modules/ekf2/test/test_EKF_terrain.cpp
@@ -207,9 +207,9 @@ TEST_F(EkfTerrainTest, testHeightReset)
 	const float new_baro_height = _sensor_simulator._baro.getData() + 50.f;
 	_sensor_simulator._baro.setData(new_baro_height);
 	_sensor_simulator.stopGps(); // prevent from switching to GNSS height
-	_sensor_simulator.runSeconds(6);
+	_sensor_simulator.runSeconds(10);
 
-	// THEN: a height reset occured and the estimated distance to the ground remains constant
+	// THEN: a height reset occurred and the estimated distance to the ground remains constant
 	reset_logging_checker.capturePostResetState();
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 	EXPECT_NEAR(estimated_distance_to_ground, _ekf->getHagl(), 1e-3f);