diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 4874f1483f..ce53e213fb 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -528,7 +528,8 @@ bool NavEKF3_core::use_compass(void) const
 bool NavEKF3_core::using_external_yaw(void) const
 {
     const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
-    if (yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL || yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK || !use_compass()) {
+    if (yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL || yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK ||
+        yaw_source == AP_NavEKF_Source::SourceYaw::GSF || !use_compass()) {
         return imuSampleTime_ms - last_gps_yaw_fusion_ms < 5000 || imuSampleTime_ms - lastSynthYawTime_ms < 5000;
     }
     if (yaw_source == AP_NavEKF_Source::SourceYaw::EXTNAV) {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 3ff3df46e2..00149d65d5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -219,12 +219,13 @@ void NavEKF3_core::SelectMagFusion()
         yawAngDataStatic.time_ms = imuDataDelayed.time_ms;
     }
 
-    // Handle case where we are not using a yaw sensor of any type and and attempt to reset the yaw in
+    // Handle case where we are not using a yaw sensor of any type and attempt to reset the yaw in
     // flight using the output from the GSF yaw estimator.
-    if (!use_compass() &&
-        yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL &&
-        yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK &&
-        yaw_source != AP_NavEKF_Source::SourceYaw::EXTNAV) {
+    if ((yaw_source == AP_NavEKF_Source::SourceYaw::GSF) ||
+        (!use_compass() &&
+         yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL &&
+         yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK &&
+         yaw_source != AP_NavEKF_Source::SourceYaw::EXTNAV)) {
 
         // because this type of reset event is not as time critical, require a continuous history of valid estimates
         if ((!yawAlignComplete || yaw_source_reset) && EKFGSF_yaw_valid_count >= GSF_YAW_VALID_HISTORY_THRESHOLD) {
@@ -1518,7 +1519,8 @@ bool NavEKF3_core::EKFGSF_resetMainFilterYaw()
         EKFGSF_yaw_reset_ms = imuSampleTime_ms;
         EKFGSF_yaw_reset_count++;
 
-        if (!use_compass() || dal.compass().get_num_enabled() == 0) {
+        if ((frontend->sources.getYawSource() == AP_NavEKF_Source::SourceYaw::GSF) ||
+            !use_compass() || (dal.compass().get_num_enabled() == 0)) {
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u yaw aligned using GPS",(unsigned)imu_index);
         } else {
             GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF3 IMU%u emergency yaw reset",(unsigned)imu_index);
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 2ba1d994ba..58e6079afe 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -1291,7 +1291,7 @@ void NavEKF3_core::updateMovementCheck(void)
 {
     const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     const bool runCheck = onGround && (yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL || yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK ||
-                                       yaw_source == AP_NavEKF_Source::SourceYaw::EXTNAV || !use_compass());
+                                       yaw_source == AP_NavEKF_Source::SourceYaw::EXTNAV || yaw_source == AP_NavEKF_Source::SourceYaw::GSF || !use_compass());
     if (!runCheck)
     {
         onGroundNotMoving = false;