diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index c82c447686..2a4a3133ca 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2614,11 +2614,14 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
 		// vehicle_status
 		vehicle_status_s vehicle_status;
 
+		bool armed = false;
+
 		if (_status_sub.copy(&vehicle_status)
 		    && (ekf2_timestamps.timestamp < vehicle_status.timestamp + 3_s)) {
 
 			// initially set in_air from arming_state (will be overridden if land detector is available)
-			flags.in_air = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			flags.in_air = armed;
 
 			// 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);
@@ -2644,6 +2647,9 @@ void EKF2::UpdateSystemFlagsSample(ekf2_timestamps_s &ekf2_timestamps)
 			flags.at_rest = vehicle_land_detected.at_rest;
 			flags.in_air = !vehicle_land_detected.landed;
 			flags.gnd_effect = vehicle_land_detected.in_ground_effect;
+
+			// Enable constant position fusion for engine warmup when landed and armed
+			flags.constant_pos = _param_ekf2_engine_wrm.get() && !flags.in_air && armed;
 		}
 
 		launch_detection_status_s launch_detection_status;
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index c95e3c3623..4c39ea1188 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -489,6 +489,7 @@ private:
 		(ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
 		(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
 		(ParamExtFloat<px4::params::EKF2_VEL_LIM>) _param_ekf2_vel_lim,
+		(ParamBool<px4::params::EKF2_ENGINE_WRM>) _param_ekf2_engine_wrm,
 
 #if defined(CONFIG_EKF2_AUXVEL)
 		(ParamExtFloat<px4::params::EKF2_AVEL_DELAY>)
diff --git a/src/modules/ekf2/module.yaml b/src/modules/ekf2/module.yaml
index cd815ed56f..b0462ec5f8 100644
--- a/src/modules/ekf2/module.yaml
+++ b/src/modules/ekf2/module.yaml
@@ -183,3 +183,11 @@ parameters:
       max: 299792458
       unit: m/s
       decimal: 1
+
+    EKF2_ENGINE_WRM:
+      description:
+        short: Enable constant position fusion during engine warmup
+        long: When enabled, constant position fusion is enabled when the vehicle is landed and armed.
+         This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
+      type: boolean
+      default: 0