diff --git a/ArduCopter/control_brake.cpp b/ArduCopter/control_brake.cpp
index 9ad1b355ea..75a7d26cec 100644
--- a/ArduCopter/control_brake.cpp
+++ b/ArduCopter/control_brake.cpp
@@ -9,7 +9,7 @@
 // brake_init - initialise brake controller
 bool Copter::brake_init(bool ignore_checks)
 {
-    if (position_ok() || optflow_position_ok() || ignore_checks) {
+    if (position_ok() || ignore_checks) {
 
         // set desired acceleration to zero
         wp_nav.clear_pilot_desired_acceleration();
diff --git a/ArduCopter/control_loiter.cpp b/ArduCopter/control_loiter.cpp
index d39768744f..425e8dad8c 100644
--- a/ArduCopter/control_loiter.cpp
+++ b/ArduCopter/control_loiter.cpp
@@ -9,7 +9,7 @@
 // loiter_init - initialise loiter controller
 bool Copter::loiter_init(bool ignore_checks)
 {
-    if (position_ok() || optflow_position_ok() || ignore_checks) {
+    if (position_ok() || ignore_checks) {
 
         // set target to current position
         wp_nav.init_loiter_target();
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index e2e43b7115..9ce5d6cc5e 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -329,7 +329,7 @@ bool Copter::position_ok()
     }
 
     // check ekf position estimate
-    return ekf_position_ok();
+    return (ekf_position_ok() || optflow_position_ok());
 }
 
 // ekf_position_ok - returns true if the ekf claims it's horizontal absolute position estimate is ok and home position is set