diff --git a/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h b/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
index 57df913069..421e109eb3 100644
--- a/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
+++ b/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
@@ -177,6 +177,7 @@ private:
     hrt_abstime _last_accel;
     hrt_abstime _last_mag;
     unsigned _prediction_steps;
+    uint64_t _prediction_last;
 
     struct sensor_combined_s            _sensor_combined;
 
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 587d22bac4..afb7cfbac5 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -157,6 +157,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
 	_last_accel(0),
 	_last_mag(0),
 	_prediction_steps(0),
+	_prediction_last(0),
 
 	_sensor_combined{},
 
@@ -997,11 +998,12 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
 	_covariancePredictionDt += _ekf->dtIMU;
 
 	// only fuse every few steps
-	if (_prediction_steps < MAX_PREDICITION_STEPS) {
+	if (_prediction_steps < MAX_PREDICITION_STEPS && ((hrt_absolute_time() - _prediction_last) < 20 * 1000)) {
 		_prediction_steps++;
 		return;
 	} else {
 		_prediction_steps = 0;
+		_prediction_last = hrt_absolute_time();
 	}
 
 	// perform a covariance prediction if the total delta angle has exceeded the limit