diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index ad052f33d4..d6bb2ad52b 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -134,7 +134,7 @@ enum class ImuCtrl : uint8_t {
 	GravityVector = (1<<2),
 };
 
-enum GnssCtrl : uint8_t {
+enum class GnssCtrl : uint8_t {
 	HPOS  = (1<<0),
 	VPOS  = (1<<1),
 	VEL  = (1<<2),
@@ -325,7 +325,7 @@ struct parameters {
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_GNSS)
-	int32_t gnss_ctrl{GnssCtrl::HPOS | GnssCtrl::VEL};
+	int32_t gnss_ctrl{static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL)};
 	float gps_delay_ms{110.0f};             ///< GPS measurement delay relative to the IMU (mSec)
 
 	Vector3f gps_pos_body{};                ///< xyz position of the GPS antenna in body frame (m)
diff --git a/src/modules/ekf2/EKF/gnss_height_control.cpp b/src/modules/ekf2/EKF/gnss_height_control.cpp
index 430fe175c7..600ba08876 100644
--- a/src/modules/ekf2/EKF/gnss_height_control.cpp
+++ b/src/modules/ekf2/EKF/gnss_height_control.cpp
@@ -86,7 +86,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
 		}
 
 		// determine if we should use height aiding
-		const bool continuing_conditions_passing = (_params.gnss_ctrl & GnssCtrl::VPOS)
+		const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
 				&& measurement_valid
 				&& _NED_origin_initialised
 				&& _gps_checks_passed;
@@ -113,7 +113,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
 					bias_est.setBias(_state.pos(2) + measurement);
 
 					// reset vertical velocity
-					if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) {
+					if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL))) {
 						// use 1.5 as a typical ratio of vacc/hacc
 						resetVerticalVelocityTo(gps_sample.vel(2), sq(math::max(1.5f * gps_sample.sacc, _params.gps_vel_noise)));
 
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index 4e1afc5ff8..6e8d3892aa 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -99,7 +99,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 					   vel_obs_var,                                                // observation variance
 					   math::max(_params.gps_vel_innov_gate, 1.f),                 // innovation gate
 					   _aid_src_gnss_vel);
-		const bool gnss_vel_enabled = (_params.gnss_ctrl & GnssCtrl::VEL);
+		const bool gnss_vel_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL));
 
 		// GNSS position
 		const Vector2f position{gps_sample.pos};
@@ -121,7 +121,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 						     pos_obs_var,                                // observation variance
 						     math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate
 						     _aid_src_gnss_pos);
-		const bool gnss_pos_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS);
+		const bool gnss_pos_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::HPOS));
 
 		// Determine if we should use GPS aiding for velocity and horizontal position
 		// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
@@ -310,7 +310,7 @@ bool Ekf::shouldResetGpsFusion() const
 #if defined(CONFIG_EKF2_GNSS_YAW)
 void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing)
 {
-	if (!(_params.gnss_ctrl & GnssCtrl::YAW)
+	if (!(_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::YAW))
 	    || _control_status.flags.gps_yaw_fault) {
 
 		stopGpsYawFusion();
diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
index 596d087cf3..73a6c2b8e1 100644
--- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
@@ -37,12 +37,12 @@ void EkfWrapper::setGpsHeightRef()
 
 void EkfWrapper::enableGpsHeightFusion()
 {
-	_ekf_params->gnss_ctrl |= GnssCtrl::VPOS;
+	_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::VPOS);
 }
 
 void EkfWrapper::disableGpsHeightFusion()
 {
-	_ekf_params->gnss_ctrl &= ~GnssCtrl::VPOS;
+	_ekf_params->gnss_ctrl &= ~static_cast<int32_t>(GnssCtrl::VPOS);
 }
 
 bool EkfWrapper::isIntendingGpsHeightFusion() const
@@ -102,12 +102,12 @@ bool EkfWrapper::isIntendingBetaFusion() const
 
 void EkfWrapper::enableGpsFusion()
 {
-	_ekf_params->gnss_ctrl |= GnssCtrl::HPOS | GnssCtrl::VEL;
+	_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL);
 }
 
 void EkfWrapper::disableGpsFusion()
 {
-	_ekf_params->gnss_ctrl &= ~(GnssCtrl::HPOS | GnssCtrl::VEL);
+	_ekf_params->gnss_ctrl &= ~(static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL));
 }
 
 bool EkfWrapper::isIntendingGpsFusion() const
@@ -117,12 +117,12 @@ bool EkfWrapper::isIntendingGpsFusion() const
 
 void EkfWrapper::enableGpsHeadingFusion()
 {
-	_ekf_params->gnss_ctrl |= GnssCtrl::YAW;
+	_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::YAW);
 }
 
 void EkfWrapper::disableGpsHeadingFusion()
 {
-	_ekf_params->gnss_ctrl &= ~GnssCtrl::YAW;
+	_ekf_params->gnss_ctrl &= ~static_cast<int32_t>(GnssCtrl::YAW);
 }
 
 bool EkfWrapper::isIntendingGpsHeadingFusion() const