EKF chooses a lane with a constant error score of 0

Bug Report

Issue details

Recently flew a flight with a quadplane where I went into DCM just after takeoff. I nailed the actual reason was due to an increase of innovation of vertical velocity due to rangefinder switching to GPS 50cm off the ground (wrong param). This caused the EKF to choose lane 1 from lane 0; lane 1 was using a bad GPS which it wasn't fusing data from as GPS_GTA was never 1. This meant the lane had a constant error score of 0. The lane had AID_NODE enabled and I don't think the EKF should be choosing lanes like this.

Version

ArduPlane 4.7.0

Platform [ ] All [ ] AntennaTracker [ ] Copter [x] Plane [ ] Rover [ ] Submarine

Airframe type Quadplane

Hardware type Cube Orange+

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