diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
index c3a6d9eae6..a52cdff330 100644
--- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -190,11 +190,13 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 
 			_control_status.flags.mag_3D = common_conditions_passing
 						       && (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO))
-						       && _control_status.flags.mag_aligned_in_flight;
+						       && _control_status.flags.mag_aligned_in_flight
+						       && !_control_status.flags.constant_pos;
 
 			_control_status.flags.mag_hdg = common_conditions_passing
 							&& ((_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::HEADING))
-							    || (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO) && !_control_status.flags.mag_3D));
+							    || (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO) && !_control_status.flags.mag_3D))
+							&& !_control_status.flags.constant_pos;
 		}
 
 		if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) {