it happens when the guy is pumping in and out of you, it can happen even if you arn't on the floor. The air has no where to go is it gets squeezed back out, making the farting noise. It's normal it happens to everyone. You and your boyfriend should be completely comfortable since your having sex, you both should be able to just laugh it off, like my boyfriend and i when it happens we just laugh.. it's not a big deal haha, and if he says anything to you like "gross" well, it's manly the guys fault why it happens haha if they keep taking there penis out and pumping back in, then air gets trapped so, tell him not to do that if he has a problem with it or something haha.
hope that helped
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