diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index b5617f3aed..53763d2b2c 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3099,7 +3099,7 @@ void NavEKF::readGpsData()
             gpsNoiseScaler = 1.0f;
         } else if (_ahrs->get_gps().num_sats() == 5) {
             gpsNoiseScaler = 1.4f;
-        } else if (_ahrs->get_gps().num_sats() <= 4) {
+        } else { // <= 4 satellites
             gpsNoiseScaler = 2.0f;
         }