diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index d205badff5..fb4b331e6e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1758,19 +1758,6 @@ void NavEKF3::getFilterStatus(int8_t instance, nav_filter_status &status) const
     }
 }
 
-/*
-return filter gps quality check status
-*/
-void  NavEKF3::getFilterGpsStatus(int8_t instance, nav_gps_status &status) const
-{
-    if (instance < 0 || instance >= num_cores) instance = primary;
-    if (core) {
-        core[instance].getFilterGpsStatus(status);
-    } else {
-        memset(&status, 0, sizeof(status));
-    }
-}
-
 // send an EKF_STATUS_REPORT message to GCS
 void NavEKF3::send_status_report(mavlink_channel_t chan) const
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 6e93674780..8670cdce4e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -290,12 +290,6 @@ public:
     */
     void getFilterFaults(int8_t instance, uint16_t &faults) const;
 
-    /*
-    return filter gps quality check status for the specified instance
-    An out of range instance (eg -1) returns data for the primary instance
-    */
-    void getFilterGpsStatus(int8_t instance, nav_gps_status &faults) const;
-
     /*
     return filter status flags for the specified instance
     An out of range instance (eg -1) returns data for the primary instance
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
index 38e83202fb..d1a7e83d65 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
@@ -146,12 +146,10 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
         tasTimeout<<4;
 
     nav_filter_status solutionStatus {};
-    nav_gps_status gpsStatus {};
     getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
     getFilterFaults(_faultStatus);
     getFilterStatus(solutionStatus);
-    getFilterGpsStatus(gpsStatus);
     const struct log_NKF4 pkt4{
         LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
         time_us : time_us,
@@ -167,7 +165,7 @@ void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
         faults : _faultStatus,
         timeouts : timeoutStatus,
         solution : solutionStatus.value,
-        gps : gpsStatus.value,
+        gps : gpsCheckStatus.value,
         primary : frontend->getPrimaryCoreIndex()
     };
     AP::logger().WriteBlock(&pkt4, sizeof(pkt4));
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 1f6bfb8f69..2118c01632 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -526,27 +526,6 @@ void  NavEKF3_core::getFilterStatus(nav_filter_status &status) const
     status = filterStatus;
 }
 
-/*
-return filter gps quality check status
-*/
-void  NavEKF3_core::getFilterGpsStatus(nav_gps_status &faults) const
-{
-    // init return value
-    faults.value = 0;
-
-    // set individual flags
-    faults.flags.bad_sAcc           = gpsCheckStatus.bad_sAcc; // reported speed accuracy is insufficient
-    faults.flags.bad_hAcc           = gpsCheckStatus.bad_hAcc; // reported horizontal position accuracy is insufficient
-    faults.flags.bad_vAcc           = gpsCheckStatus.bad_vAcc; // reported vertical position accuracy is insufficient
-    faults.flags.bad_yaw            = gpsCheckStatus.bad_yaw; // EKF heading accuracy is too large for GPS use
-    faults.flags.bad_sats           = gpsCheckStatus.bad_sats; // reported number of satellites is insufficient
-    faults.flags.bad_horiz_drift    = gpsCheckStatus.bad_horiz_drift; // GPS horizontal drift is too large to start using GPS (check assumes vehicle is static)
-    faults.flags.bad_hdop           = gpsCheckStatus.bad_hdop; // reported HDoP is too large to start using GPS
-    faults.flags.bad_vert_vel       = gpsCheckStatus.bad_vert_vel; // GPS vertical speed is too large to start using GPS (check assumes vehicle is static)
-    faults.flags.bad_fix            = gpsCheckStatus.bad_fix; // The GPS cannot provide the 3D fix required
-    faults.flags.bad_horiz_vel      = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static)
-}
-
 // send an EKF_STATUS message to GCS
 void NavEKF3_core::send_status_report(mavlink_channel_t chan) const
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 779e961d6f..93586b1392 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -310,11 +310,6 @@ public:
     */
     void getFilterFaults(uint16_t &faults) const;
 
-    /*
-    return filter gps quality check status
-    */
-    void getFilterGpsStatus(nav_gps_status &status) const;
-
     /*
     Return a filter function status that indicates:
         Which outputs are valid
@@ -1348,18 +1343,21 @@ private:
     } faultStatus;
 
     // flags indicating which GPS quality checks are failing
-    struct {
-        bool bad_sAcc:1;
-        bool bad_hAcc:1;
-        bool bad_vAcc:1;
-        bool bad_yaw:1;
-        bool bad_sats:1;
-        bool bad_VZ:1;
-        bool bad_horiz_drift:1;
-        bool bad_hdop:1;
-        bool bad_vert_vel:1;
-        bool bad_fix:1;
-        bool bad_horiz_vel:1;
+    union {
+        struct {
+            bool bad_sAcc:1;
+            bool bad_hAcc:1;
+            bool bad_vAcc:1;
+            bool bad_yaw:1;
+            bool bad_sats:1;
+            bool bad_VZ:1;
+            bool bad_horiz_drift:1;
+            bool bad_hdop:1;
+            bool bad_vert_vel:1;
+            bool bad_fix:1;
+            bool bad_horiz_vel:1;
+        };
+        uint16_t value;
     } gpsCheckStatus;
 
     // states held by magnetometer fusion across time steps