diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index df39da9edd..5c7e318302 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -178,7 +178,11 @@ void NavEKF2_core::setAidingMode()
          bool flowSensorTimeout = ((imuSampleTime_ms - flowValidMeaTime_ms) > 5000);
          // Check if the fusion has timed out (flow measurements have been rejected for too long)
          bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
-         if (flowSensorTimeout || flowFusionTimeout) {
+         // Enable switch to absolute position mode if GPS is available
+         // If GPS is not available and flow fusion has timed out, then fall-back to no-aiding
+         if((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && !gpsInhibit) {
+             PV_AidingMode = AID_ABSOLUTE;
+         } else if (flowSensorTimeout || flowFusionTimeout) {
              PV_AidingMode = AID_NONE;
          }
      } else if (PV_AidingMode == AID_ABSOLUTE) {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
index 8a2795a4fe..2126faa0ba 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
@@ -59,8 +59,8 @@ void NavEKF2_core::SelectFlowFusion()
         EstimateTerrainOffset();
     }
 
-    // Fuse optical flow data into the main filter if not excessively tilted and we are in the correct mode
-    if (flowDataToFuse && tiltOK && PV_AidingMode == AID_RELATIVE)
+    // Fuse optical flow data into the main filter
+    if (flowDataToFuse && tiltOK)
     {
         // Set the flow noise used by the fusion processes
         R_LOS = sq(MAX(frontend->_flowNoise, 0.05f));