diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 405269614e..20e8d7c3a8 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -149,9 +149,7 @@ void Ekf::predictCovariance()
 	for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) {
 		const unsigned index = stateIndex - 13;
 
-		// When on ground, only consider an accel bias observable if aligned with the gravity vector
-		const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
-		const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable || _imu_sample_delayed.delta_vel_clipping[index];
+		const bool do_inhibit_axis = do_inhibit_all_axes || _imu_sample_delayed.delta_vel_clipping[index];
 
 		if (do_inhibit_axis) {
 			// store the bias state variances to be reinstated later