diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 75341b1290..10d366a14a 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -142,7 +142,8 @@ void Ekf::controlFusionModes()
 			_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
 
 			// Run the kinematic consistency check when not moving horizontally
-			if ((sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) {
+			if (_control_status.flags.in_air && !_control_status.flags.fixed_wing
+			    && (sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) {
 				_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
 				_rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), _time_last_imu);
 			}