diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 4337a0af7b..3a4b5aa9b4 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1110,7 +1110,9 @@ void Ekf2::Run()
 				// velocity measurement error from ev_data or parameters
 				float param_evv_noise_var = sq(_param_ekf2_evv_noise.get());
 
-				if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])) {
+				if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])
+				    && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE])
+				    && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE])) {
 					ev_data.velVar(0) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE]);
 					ev_data.velVar(1) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE]);
 					ev_data.velVar(2) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE]);
@@ -1129,13 +1131,15 @@ void Ekf2::Run()
 				float param_evp_noise_var = sq(_param_ekf2_evp_noise.get());
 
 				// position measurement error from ev_data or parameters
-				if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
+				if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])
+				    && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])
+				    && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])) {
 					ev_data.posVar(0) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE]);
 					ev_data.posVar(1) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE]);
 					ev_data.posVar(2) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Z_VARIANCE]);
 
 				} else {
-					ev_data.posVar.setAll(_param_ekf2_evp_noise.get());
+					ev_data.posVar.setAll(param_evp_noise_var);
 				}
 			}