diff --git a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
index 2e324663de..245c12cd69 100644
--- a/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/airspeed/airspeed_fusion.cpp
@@ -96,7 +96,8 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
 		_innov_check_fail_status.flags.reject_airspeed =
 			_aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
 
-		const bool continuing_conditions_passing = _control_status.flags.in_air
+		const bool continuing_conditions_passing = _control_status.flags.in_air && (_control_status.flags.fixed_wing
+				|| _control_status.flags.in_transition_to_fw)
 				&& !_control_status.flags.fake_pos;
 
 		const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.ekf2_arsp_thr;
diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index c8d61754aa..57fcb0d859 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -267,6 +267,7 @@ struct systemFlagUpdate {
 	bool is_fixed_wing{false};
 	bool gnd_effect{false};
 	bool constant_pos{false};
+	bool in_transition_to_fw{false};
 };
 
 struct parameters {
@@ -611,6 +612,8 @@ uint64_t gnss_fault              :
 		uint64_t yaw_manual              : 1; ///< 46 - true if yaw has been reset manually
 uint64_t gnss_hgt_fault              :
 		1; ///< 47 - true if GNSS measurements (alt) have been declared faulty and are no longer used
+		uint64_t in_transition_to_fw 	 : 1; ///< 48 - true if the vehicle is in transition to fw
+
 	} flags;
 	uint64_t value;
 };
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 0998f86b43..95ee21c014 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -58,6 +58,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 			set_in_air_status(system_flags_delayed.in_air);
 
 			set_is_fixed_wing(system_flags_delayed.is_fixed_wing);
+			set_in_transition_to_fw(system_flags_delayed.in_transition_to_fw);
 
 			if (system_flags_delayed.gnd_effect) {
 				set_gnd_effect();
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index b87472f919..0c3f9bf7be 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -200,6 +200,8 @@ public:
 	// set vehicle is fixed wing status
 	void set_is_fixed_wing(bool is_fixed_wing) { _control_status.flags.fixed_wing = is_fixed_wing; }
 
+	void set_in_transition_to_fw(bool in_transition) { _control_status.flags.in_transition_to_fw = in_transition; }
+
 	// set flag if static pressure rise due to ground effect is expected
 	// use _params.ekf2_gnd_eff_dz to adjust for expected rise in static pressure
 	// flag will clear after GNDEFFECT_TIMEOUT uSec
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 7a59a0e7a1..c82c447686 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2622,6 +2622,7 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
 
 			// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
 			flags.is_fixed_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING);
+			flags.in_transition_to_fw = vehicle_status.in_transition_to_fw;
 
 #if defined(CONFIG_EKF2_SIDESLIP)