diff --git a/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp
index 3e244412ab..c69c8c9150 100644
--- a/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp
@@ -78,7 +78,7 @@ void Ekf::controlFakePosFusion()
 		const bool enable_valid_fake_pos = _control_status.flags.constant_pos || _control_status.flags.vehicle_at_rest;
 		const bool enable_fake_pos = !enable_valid_fake_pos
 					     && (getTiltVariance() > sq(math::radians(3.f)))
-					     && !(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
+					     && !_control_status.flags.gravity_vector
 					     && _horizontal_deadreckon_time_exceeded;
 
 		_control_status.flags.fake_pos = runFakePosStateMachine(enable_fake_pos, _control_status.flags.fake_pos, aid_src);
diff --git a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
index 8442e73d3b..bf8d47c539 100644
--- a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
@@ -61,7 +61,8 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 	// fuse gravity observation if our overall acceleration isn't too big
 	_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
 					       && (accel_lpf_norm_good || _control_status.flags.vehicle_at_rest)
-					       && !isHorizontalAidingActive();
+					       && !isHorizontalAidingActive()
+					       && _control_status.flags.tilt_align; // Let fake position do the initial alignment (more robust before takeoff)
 
 	// calculate kalman gains and innovation variances
 	Vector3f innovation = _state.quat_nominal.rotateVectorInverse(Vector3f(0.f, 0.f, -1.f)) - measurement;