diff --git a/AntennaTracker/tracking.cpp b/AntennaTracker/tracking.cpp
index 4121ffa2ce..691423d976 100644
--- a/AntennaTracker/tracking.cpp
+++ b/AntennaTracker/tracking.cpp
@@ -35,7 +35,7 @@ void Tracker::update_tracker_position()
 {
     // update our position if we have at least a 2D fix
     // REVISIT: what if we lose lock during a mission and the antenna is moving?
-    if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
+    if (!ahrs.get_position(current_loc) && (gps.status() >= AP_GPS::GPS_OK_FIX_2D)) {
         current_loc = gps.location();
     }
 }