diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 24b1350885..f48eb78ff7 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -554,13 +554,23 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         }
     }
 
-    // check EKF compass variance is below failsafe threshold
-    float vel_variance, pos_variance, hgt_variance, tas_variance;
-    Vector3f mag_variance;
-    ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance);
-    if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) {
-        check_failed(display_failure, "EKF compass variance");
-        return false;
+    // check EKF's compass, position and velocity variances are below failsafe threshold
+    if (copter.g.fs_ekf_thresh > 0.0f) {
+        float vel_variance, pos_variance, hgt_variance, tas_variance;
+        Vector3f mag_variance;
+        ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance);
+        if (mag_variance.length() >= copter.g.fs_ekf_thresh) {
+            check_failed(display_failure, "EKF compass variance");
+            return false;
+        }
+        if (pos_variance >= copter.g.fs_ekf_thresh) {
+            check_failed(display_failure, "EKF position variance");
+            return false;
+        }
+        if (vel_variance >= copter.g.fs_ekf_thresh) {
+            check_failed(display_failure, "EKF velocity variance");
+            return false;
+        }
     }
 
     // check home and EKF origin are not too far