diff --git a/EKF/control.cpp b/EKF/control.cpp
index a5596fbd77..d2ceafb9a6 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -151,6 +151,8 @@ void Ekf::controlFusionModes()
 		_control_status.flags.wind = false;
 	}
 
+	// Store the status to enable change detection
+	_control_status_prev.value = _control_status.value;
 }
 
 void Ekf::calculateVehicleStatus()
diff --git a/EKF/ekf.h b/EKF/ekf.h
index de693135e9..a7a426463a 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -85,8 +85,12 @@ public:
 	bool collect_gps(uint64_t time_usec, struct gps_message *gps);
 	bool collect_imu(imuSample &imu);
 
+	// this is the current status of the filter control modes
 	filter_control_status_u _control_status = {};
 
+	// this is the previous status of the filter control modes - used to detect mode transitions
+	filter_control_status_u _control_status_prev = {};
+
 	// get the ekf WGS-84 origin position and height and the system time it was last set
 	void get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt);