diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 551020923d..d49eed7705 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1904,6 +1904,11 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const
     if (ret != EKFType::NONE &&
         (_vehicle_class == VehicleClass::FIXED_WING ||
          _vehicle_class == VehicleClass::GROUND)) {
+        if (!dcm.yaw_source_available() && !fly_forward) {
+            // if we don't have a DCM yaw source available and we are
+            // in a non-fly-forward mode then we are best off using the EKF
+            return ret;
+        }
         bool should_use_gps = true;
         nav_filter_status filt_state;
 #if HAL_NAVEKF2_AVAILABLE
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 5085dcd62a..b5c90eb2d2 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1254,3 +1254,9 @@ bool AP_AHRS_DCM::get_relative_position_D_origin(float &posD) const
 void AP_AHRS_DCM::send_ekf_status_report(GCS_MAVLINK &link) const
 {
 }
+
+// return true if DCM has a yaw source available
+bool AP_AHRS_DCM::yaw_source_available(void) const
+{
+    return AP::compass().use_for_yaw();
+}
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index d5da18aa84..c3a5bd02c8 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -124,6 +124,9 @@ public:
 
     void send_ekf_status_report(class GCS_MAVLINK &link) const override;
 
+    // return true if DCM has a yaw source
+    bool yaw_source_available(void) const;
+
 private:
 
     // settable parameters