diff --git a/EKF/control.cpp b/EKF/control.cpp
index c77da70579..07726c7a5d 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -761,8 +761,9 @@ void Ekf::controlAirDataFusion()
 
 	}
 
-	// Always try to fuse airspeed data if available and we are in flight
-	if (_tas_data_ready && _control_status.flags.in_air) {
+	// Always try to fuse airspeed data if available and we are in flight and the filter is operating in a normal aiding mode
+	bool is_aiding = _control_status.flags.gps || _control_status.flags.opt_flow || _control_status.flags.ev_pos;
+	if (_tas_data_ready && _control_status.flags.in_air && is_aiding) {
 		// If starting wind state estimation, reset the wind states and covariances before fusing any data
 		if (!_control_status.flags.wind) {
 			// activate the wind states
@@ -793,9 +794,15 @@ void Ekf::controlBetaFusion()
 
         }
 
-	// Attempt synthetic sideslip fusion at the prescribed rate if we are in-flight and fusion has been enabled
+	// Perform synthetic sideslip fusion when in-air and sideslip fuson had been enabled externally in addition to the following criteria:
+
+	// Suffient time has lapsed sice the last fusion
 	bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_us;
-	if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air){
+
+	// The filter is operating in a mode where velocity states can be used
+	bool vel_states_active = _control_status.flags.gps || _control_status.flags.opt_flow || _control_status.flags.ev_pos;
+
+	if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air && vel_states_active) {
 		// If starting wind state estimation, reset the wind states and covariances before fusing any data
 		if (!_control_status.flags.wind) {
 			// activate the wind states