diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 5255b42f16..53fe969c67 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -595,8 +595,11 @@ void Plane::update_flight_mode(void)
         steer_state.hold_course_cd = -1;
     }
 
-    // ensure we are fly-forward
-    if (quadplane.in_vtol_mode()) {
+    // ensure we are fly-forward when we are flying as a pure fixed
+    // wing aircraft. This helps the EKF produce better state
+    // estimates as it can make stronger assumptions
+    if (quadplane.in_vtol_mode() ||
+        quadplane.in_assisted_flight()) {
         ahrs.set_fly_forward(false);
     } else {
         ahrs.set_fly_forward(true);