diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index a9e1381b45..5b4352b612 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -896,6 +896,9 @@ void NavEKF2::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainSca
 {
     if (core) {
         core[primary].getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
+    } else {
+        ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
+        ekfNavVelGainScaler = 1.0f;
     }
 }