diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 3a69c4eb3d..b1b345dea3 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -499,7 +499,7 @@ void NavEKF::UpdateFilter()
     OnGroundCheck();
 
     // Define rules used to set staticMode
-    if (onGround && !_ahrs->get_correct_centrifugal()) {
+    if (onGround && static_mode_demanded()) {
         staticMode = true;
     } else {
         staticMode = false;
@@ -2231,7 +2231,7 @@ void NavEKF::getGyroBias(Vector3f &gyroBias) const
 void NavEKF::getAccelBias(Vector3f &accelBias) const
 {
     accelBias.x = staticMode? 1.0f : 0.0f;
-    accelBias.y = _ahrs->get_correct_centrifugal()? 0.0f : 1.0f;
+    accelBias.y = static_mode_demanded()? 1.0f : 0.0f;
     accelBias.z = states[13] / dtIMU;
 }
 
@@ -2659,4 +2659,12 @@ bool NavEKF::useAirspeed(void) const
     return _ahrs->get_airspeed()->use();
 }
 
+/*
+  see if the vehicle code has demanded static mode
+ */
+bool NavEKF::static_mode_demanded(void) const 
+{
+    return !_ahrs->get_armed() || !_ahrs->get_correct_centrifugal();
+}
+
 #endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index 63721b13e7..7ecb419369 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -255,6 +255,9 @@ private:
     // return true if we should use the airspeed sensor
     bool useAirspeed(void) const;
 
+    // check if static mode has been demanded by vehicle code
+    bool static_mode_demanded(void) const;
+
 private:
     // EKF Mavlink Tuneable Parameters
     AP_Float _gpsHorizVelNoise;     // GPS horizontal velocity measurement noise : m/s