diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 793c71f5e2..5f0f7080ca 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -205,7 +205,7 @@ bool NavEKF2_core::optFlowDataPresent(void) const
 // return true if the filter to be ready to use gps
 bool NavEKF2_core::readyToUseGPS(void) const
 {
-    return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign;
+    return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign && (frontend->_fusionModeGPS != 3);
 }
 
 // return true if we should use the compass