diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 3ae4692878..71e07d602a 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -102,7 +102,7 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 	}
 
-	if (missing_data) {
+	if (missing_data && _param_sys_mc_est_group.get() == 2) {
 		/* EVENT
 		 */
 		reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,
@@ -740,7 +740,8 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
 							&& (fabsf(q(3)) <= 1.f + eps);
 		const bool norm_in_tolerance = fabsf(1.f - q.norm()) <= eps;
 
-		failsafe_flags.attitude_valid = now - attitude.timestamp < 1_s && norm_in_tolerance && no_element_larger_than_one;
+		failsafe_flags.attitude_valid = now < attitude.timestamp  + 1_s && norm_in_tolerance
+						&& no_element_larger_than_one;
 
 	} else {
 		failsafe_flags.attitude_valid = false;
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
index 76edd4d942..1d8f699018 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
@@ -105,6 +105,7 @@ private:
 	bool _position_reliant_on_optical_flow{false};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
+					(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
 					(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
 					(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
 					(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,