diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index 983db8aa86..ac410b4d8d 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -308,10 +308,10 @@ bool Ekf::resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, fl
 		pos_corrected += _state.vel.xy() * dt_s;
 	}
 
-	const float obs_var = math::max(accuracy, sq(0.01f));
+	const float obs_var = math::max(sq(accuracy), sq(0.01f));
 
 	const Vector2f innov = Vector2f(_state.pos.xy()) - pos_corrected;
-	const Vector2f innov_var = Vector2f(getStateVariance<State::vel>()) + obs_var;
+	const Vector2f innov_var = Vector2f(getStateVariance<State::pos>()) + obs_var;
 
 	const float sq_gate = sq(5.f); // magic hardcoded gate
 	const Vector2f test_ratio{sq(innov(0)) / (sq_gate * innov_var(0)),
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 362c68c372..c42a499e09 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -529,8 +529,9 @@ void EKF2::Run()
 
 			} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE) {
 
-				if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning) &&
-				    PX4_ISFINITE(vehicle_command.param2) && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
+				if ((_ekf.control_status_flags().wind_dead_reckoning || _ekf.control_status_flags().inertial_dead_reckoning
+				     || (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gps)) && PX4_ISFINITE(vehicle_command.param2)
+				    && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
 				   ) {
 
 					const float measurement_delay_seconds = math::constrain(vehicle_command.param2, 0.0f,