diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index ce0524f179..dc63992bc6 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -531,10 +531,9 @@ 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
-				     || (!_ekf.control_status_flags().in_air && !_ekf.control_status_flags().gnss_pos))
-				    && PX4_ISFINITE(vehicle_command.param2)
-				    && PX4_ISFINITE(vehicle_command.param5) && PX4_ISFINITE(vehicle_command.param6)
+				if (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,