diff --git a/Blimp/Blimp.cpp b/Blimp/Blimp.cpp
index 3f1ff9041b..e8406b28ac 100644
--- a/Blimp/Blimp.cpp
+++ b/Blimp/Blimp.cpp
@@ -46,6 +46,7 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
     SCHED_TASK(one_hz_loop,            1,    100),
     SCHED_TASK(ekf_check,             10,     75),
     SCHED_TASK(check_vibration,       10,     50),
+    SCHED_TASK(gpsglitch_check,       10,     50),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&blimp._gcs,          update_receive, 400, 180),
     SCHED_TASK_CLASS(GCS,                  (GCS*)&blimp._gcs,          update_send,    400, 550),
 #if LOGGING_ENABLED == ENABLED
diff --git a/Blimp/Blimp.h b/Blimp/Blimp.h
index 53034366e5..04d39599c3 100644
--- a/Blimp/Blimp.h
+++ b/Blimp/Blimp.h
@@ -347,6 +347,7 @@ private:
     void failsafe_gcs_check();
     bool should_disarm_on_failsafe();
     void do_failsafe_action(Failsafe_Action action, ModeReason reason);
+    void gpsglitch_check();
 
     // failsafe.cpp
     void failsafe_enable();
diff --git a/Blimp/events.cpp b/Blimp/events.cpp
index 579fbb706e..7c3c5577a6 100644
--- a/Blimp/events.cpp
+++ b/Blimp/events.cpp
@@ -155,3 +155,23 @@ void Blimp::do_failsafe_action(Failsafe_Action action, ModeReason reason)
     break;
     }
 }
+
+// check for gps glitch failsafe
+void Blimp::gpsglitch_check()
+{
+    // get filter status
+    nav_filter_status filt_status = inertial_nav.get_filter_status();
+    bool gps_glitching = filt_status.flags.gps_glitching;
+
+    // log start or stop of gps glitch.  AP_Notify update is handled from within AP_AHRS
+    if (ap.gps_glitching != gps_glitching) {
+        ap.gps_glitching = gps_glitching;
+        if (gps_glitching) {
+            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::GPS_GLITCH);
+            gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch");
+        } else {
+            AP::logger().Write_Error(LogErrorSubsystem::GPS, LogErrorCode::ERROR_RESOLVED);
+            gcs().send_text(MAV_SEVERITY_CRITICAL,"GPS Glitch cleared");
+        }
+    }
+}
\ No newline at end of file