diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index daea2db9d9..e08c7b7124 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -151,13 +151,16 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
 
 	if (time_us >= static_cast<int64_t>(_gps_buffer->get_newest().time_us + _min_obs_interval_us)) {
 
+		if (!gps.vel_ned_valid) {
+			return;
+		}
+
 		gpsSample gps_sample_new;
 
 		gps_sample_new.time_us = time_us;
 
 		gps_sample_new.vel = gps.vel_ned;
 
-		_gps_speed_valid = gps.vel_ned_valid;
 		gps_sample_new.sacc = gps.sacc;
 		gps_sample_new.hacc = gps.eph;
 		gps_sample_new.vacc = gps.epv;
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index edbd29776c..5dd181bde9 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -330,7 +330,6 @@ protected:
 	bool _initialised{false};      // true if the ekf interface instance (data buffering) is initialized
 
 	bool _NED_origin_initialised{false};
-	bool _gps_speed_valid{false};
 	float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin
 	float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin
 	MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin