diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
index 8f27185337c83ca41d628ceb73a07f5b766ccf8d..4b69f6d436fb6655215c63fe12c24575bd4906b9 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp
@@ -792,14 +792,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					static float last_vision_y = 0.0f;
 					static float last_vision_z = 0.0f;
 
-					vision_xy_valid = (!PX4_ISFINITE(visual_odom.pose_covariance[0]) ? sqrtf(fmaxf(visual_odom.pose_covariance[0],
-							   visual_odom.pose_covariance[6])) > ep_max_std_dev : true) ? false : true;
-					vision_z_valid = (!PX4_ISFINITE(visual_odom.pose_covariance[0]) ? visual_odom.pose_covariance[11] > ep_max_std_dev :
-							  true) ? false : true;
-					vision_vxy_valid = (!PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? sqrtf(fmaxf(visual_odom.velocity_covariance[0],
-							    visual_odom.velocity_covariance[6])) > ev_max_std_dev : true) ? false : true;
-					vision_vz_valid = (!PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? visual_odom.velocity_covariance[11] >
-							   ep_max_std_dev : true) ? false : true;
+					vision_xy_valid = !PX4_ISFINITE(visual_odom.pose_covariance[0]) ? sqrtf(fmaxf(visual_odom.pose_covariance[0],
+							  visual_odom.pose_covariance[6])) > ep_max_std_dev : true;
+					vision_z_valid = !PX4_ISFINITE(visual_odom.pose_covariance[0]) ? visual_odom.pose_covariance[11] > ep_max_std_dev :
+							 true;
+					vision_vxy_valid = !PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? sqrtf(fmaxf(visual_odom.velocity_covariance[0],
+							   visual_odom.velocity_covariance[6])) > ev_max_std_dev : true;
+					vision_vz_valid = !PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? visual_odom.velocity_covariance[11] >
+							  ep_max_std_dev : true;
 
 					/* reset position estimate on first vision update */
 					if (vision_xy_valid) {