diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
index 6d2067423d..5f3eee5fe5 100644
--- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
@@ -67,10 +67,9 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
 			pos = R_ev_to_ekf * ev_sample.pos;
 			pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();
 
-			// increase minimum variance to include EV orientation variance
-			// TODO: do this properly
-			const float orientation_var_max = math::max(ev_sample.orientation_var(0), ev_sample.orientation_var(1));
-			pos_cov(2, 2) = math::max(pos_cov(2, 2), orientation_var_max);
+			// Position variance contribution from orientation uncertainty: δp_z = δθ_roll·py - δθ_pitch·px
+			pos_cov(2, 2) += sq(ev_sample.pos(1)) * ev_sample.orientation_var(0)   // roll
+					 + sq(ev_sample.pos(0)) * ev_sample.orientation_var(1);   // pitch
 		}
 	}
 
diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
index d4e6b875ab..070c2d716f 100644
--- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
@@ -101,13 +101,11 @@ void Ekf::controlEvPosFusion(const imuSample &imu_sample, const extVisionSample
 			pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth;
 			pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();
 
-			// increase minimum variance to include EV orientation variance
-			// TODO: do this properly
-			const float orientation_var_max = ev_sample.orientation_var.max();
-
-			for (int i = 0; i < 2; i++) {
-				pos_cov(i, i) = math::max(pos_cov(i, i), orientation_var_max);
-			}
+			// Position variance contribution from orientation uncertainty: δp = δθ × p
+			pos_cov(0, 0) += sq(ev_sample.pos(2)) * ev_sample.orientation_var(1)   // pitch
+					 + sq(ev_sample.pos(1)) * ev_sample.orientation_var(2);   // yaw
+			pos_cov(1, 1) += sq(ev_sample.pos(0)) * ev_sample.orientation_var(2)   // yaw
+					 + sq(ev_sample.pos(2)) * ev_sample.orientation_var(0);   // roll
 
 			if (_control_status.flags.gnss_pos) {
 				_ev_pos_b_est.setFusionActive();
diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h
index 10d6b64cf4..3f7cf93666 100644
--- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h
+++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel.h
@@ -166,7 +166,11 @@ public:
 			_measurement = rotation_ev_to_ekf * _sample.vel - velocity_offset_earth;
 			_measurement_var = matrix::SquareMatrix3f(rotation_ev_to_ekf * matrix::diag(
 						   _sample.velocity_var) * rotation_ev_to_ekf.transpose()).diag();
-			_min_variance = math::max(_min_variance, _sample.orientation_var.max());
+			// Velocity variance contribution from orientation uncertainty: δv = δθ × v
+			const float vx = _sample.vel(0), vy = _sample.vel(1), vz = _sample.vel(2);
+			_measurement_var(0) += sq(vz) * _sample.orientation_var(1) + sq(vy) * _sample.orientation_var(2);
+			_measurement_var(1) += sq(vx) * _sample.orientation_var(2) + sq(vz) * _sample.orientation_var(0);
+			_measurement_var(2) += sq(vy) * _sample.orientation_var(0) + sq(vx) * _sample.orientation_var(1);
 		}
 
 		enforceMinimumVariance();
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index a6d6ca8038..a25256fd15 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -740,7 +740,8 @@ bool EstimatorInterface::isNorthEastAidingActive() const
 {
 	return _control_status.flags.gnss_pos
 	       || _control_status.flags.gnss_vel
-	       || _control_status.flags.aux_gpos;
+	       || _control_status.flags.aux_gpos
+	       || (_control_status.flags.ev_pos && _control_status.flags.yaw_align);
 }
 
 void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)