diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 334d95345b..95461113fd 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -1888,9 +1888,11 @@ void Ekf::runYawEKFGSF()
 	_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
 
 	// basic sanity check on GPS velocity data
-	if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&
-	    PX4_ISFINITE(_gps_sample_delayed.vel(0)) && PX4_ISFINITE(_gps_sample_delayed.vel(1))) {
-		_yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
+	if (_gps_data_ready
+	&& (_gps_sample_delayed.sacc > FLT_EPSILON) && (_gps_sample_delayed.sacc < _params.req_sacc)
+	&& PX4_ISFINITE(_gps_sample_delayed.vel(0)) && PX4_ISFINITE(_gps_sample_delayed.vel(1))
+	) {
+		_yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.sacc);
 	}
 }