diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 7ff2c973f9..88530272da 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -1802,8 +1802,10 @@ void Ekf::runYawEKFGSF()
 		}
 	}
 
+	const bool run_yaw_estimator = _control_status.flags.in_air || !_control_status.flags.vehicle_at_rest;
 	const Vector3f imu_gyro_bias = getGyroBias();
-	_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
+
+	_yawEstimator.update(_imu_sample_delayed, run_yaw_estimator, TAS, imu_gyro_bias);
 
 	// basic sanity check on GPS velocity data
 	if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&