diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 9c93a285bb..416368549c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -737,7 +737,7 @@ void NavEKF3_core::readBaroData()
 
         // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
         // This prevents negative baro disturbances due to rotor wash ground interaction corrupting the EKF altitude during initial ascent
-        if (dal.get_takeoff_expected()) {
+        if (dal.get_takeoff_expected() && !assume_zero_sideslip()) {
             baroDataNew.hgt = MAX(baroDataNew.hgt, meaHgtAtTakeOff);
         }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 21dd4d68d1..a3ce94b4ef 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1182,7 +1182,7 @@ void NavEKF3_core::selectHeightForFusion()
         }
         // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
         // This prevents negative baro disturbances due to rotor wash ground interaction corrupting the EKF altitude during initial ascent
-        if (motorsArmed && dal.get_takeoff_expected()) {
+        if (motorsArmed && dal.get_takeoff_expected() && !assume_zero_sideslip()) {
             hgtMea = MAX(hgtMea, meaHgtAtTakeOff);
         }
         velPosObs[5] = -hgtMea;