diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index eb7cb5384e..228d3b895b 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -573,9 +573,15 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         }
     }
 
-    // check home and EKF origin are not too far
+    // check if home is too far from EKF origin
     if (copter.far_from_EKF_origin(ahrs.get_home())) {
-        check_failed(display_failure, "EKF-home variance");
+        check_failed(display_failure, "Home too far from EKF origin");
+        return false;
+    }
+
+    // check if vehicle is too far from EKF origin
+    if (copter.far_from_EKF_origin(copter.current_loc)) {
+        check_failed(display_failure, "Vehicle too far from EKF origin");
         return false;
     }
 
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index 0ceb2a73d2..54b0896128 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -107,8 +107,13 @@ bool Copter::far_from_EKF_origin(const Location& loc)
 {
     // check distance to EKF origin
     Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin) && ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_M) || (labs(ekf_origin.alt - loc.alt) > EKF_ORIGIN_MAX_DIST_M))) {
-        return true;
+    if (ahrs.get_origin(ekf_origin)) {
+        if ((ekf_origin.get_distance(loc) > EKF_ORIGIN_MAX_DIST_KM*1000.0)) {
+            return true;
+        }
+        if (labs(ekf_origin.alt - loc.alt)*0.01 > EKF_ORIGIN_MAX_ALT_KM*1000.0) {
+            return true;
+        }
     }
 
     // close enough to origin
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 5cbe6c15c6..c906530437 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -168,8 +168,11 @@
  # define FS_EKF_THRESHOLD_DEFAULT      0.8f    // EKF failsafe's default compass and velocity variance threshold above which the EKF failsafe will be triggered
 #endif
 
-#ifndef EKF_ORIGIN_MAX_DIST_M
- # define EKF_ORIGIN_MAX_DIST_M         50000   // EKF origin and waypoints (including home) must be within 50km
+#ifndef EKF_ORIGIN_MAX_DIST_KM
+ # define EKF_ORIGIN_MAX_DIST_KM        250   // EKF origin and home must be within 250km horizontally
+#endif
+#ifndef EKF_ORIGIN_MAX_ALT_KM
+ # define EKF_ORIGIN_MAX_ALT_KM         50   // EKF origin and home must be within 50km vertically
 #endif
 
 #ifndef COMPASS_CAL_STICK_GESTURE_TIME