diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index bc36e01769..8ee74cd207 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -164,7 +164,8 @@ private:
 
 	control::BlockParamFloat *_gps_vel_noise;
 	control::BlockParamFloat *_gps_pos_noise;
-	control::BlockParamFloat *_baro_noise;
+        control::BlockParamFloat *_pos_noaid_noise;
+        control::BlockParamFloat *_baro_noise;
 	control::BlockParamFloat *_baro_innov_gate;     // innovation gate for barometric height innovation test (std dev)
 	control::BlockParamFloat *_posNE_innov_gate;    // innovation gate for GPS horizontal position innovation test (std dev)
 	control::BlockParamFloat *_vel_innov_gate;      // innovation gate for GPS velocity innovation test (std dev)
@@ -214,7 +215,8 @@ Ekf2::Ekf2():
 	_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
 	_gps_vel_noise(new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &_params->gps_vel_noise)),
 	_gps_pos_noise(new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &_params->gps_pos_noise)),
-	_baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
+        _pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),
+        _baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
 	_baro_innov_gate(new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &_params->baro_innov_gate)),
 	_posNE_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &_params->posNE_innov_gate)),
 	_vel_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &_params->vel_innov_gate)),
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index bd033980ed..5c4a43d5d7 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -260,6 +260,16 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
  */
 PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 1.0f);
 
+/**
+ * Measurement noise for non-aiding position hold.
+ *
+ * @group EKF2
+ * @min 0.5
+ * @max 50.0
+ * @unit m
+ */
+PARAM_DEFINE_FLOAT(EKF2_NOAID_NOISE, 10.0f);
+
 /**
  * Measurement noise for barometric altitude.
  *