diff --git a/src/drivers/osd/msp_osd/msp_osd.cpp b/src/drivers/osd/msp_osd/msp_osd.cpp
index 087ffce6c8..e6e7f236f7 100644
--- a/src/drivers/osd/msp_osd/msp_osd.cpp
+++ b/src/drivers/osd/msp_osd/msp_osd.cpp
@@ -350,16 +350,12 @@ void MspOsd::Run()
 		home_position_s home_position{};
 		_home_position_sub.copy(&home_position);
 
-		estimator_status_s estimator_status{};
-		_estimator_status_sub.copy(&estimator_status);
-
 		vehicle_global_position_s vehicle_global_position{};
 		_vehicle_global_position_sub.copy(&vehicle_global_position);
 
 		// construct and send message
 		const auto msg = msp_osd::construct_COMP_GPS(
 					 home_position,
-					 estimator_status,
 					 vehicle_global_position,
 					 _heartbeat);
 		this->Send(MSP_COMP_GPS, &msg);
@@ -379,17 +375,11 @@ void MspOsd::Run()
 		sensor_gps_s vehicle_gps_position{};
 		_vehicle_gps_position_sub.copy(&vehicle_gps_position);
 
-		estimator_status_s estimator_status{};
-		_estimator_status_sub.copy(&estimator_status);
-
 		vehicle_local_position_s vehicle_local_position{};
 		_vehicle_local_position_sub.copy(&vehicle_local_position);
 
 		// construct and send message
-		const auto msg = msp_osd::construct_ALTITUDE(
-					 vehicle_gps_position,
-					 estimator_status,
-					 vehicle_local_position);
+		const auto msg = msp_osd::construct_ALTITUDE(vehicle_gps_position, vehicle_local_position);
 		this->Send(MSP_ALTITUDE, &msg);
 	}
 
diff --git a/src/drivers/osd/msp_osd/msp_osd.hpp b/src/drivers/osd/msp_osd/msp_osd.hpp
index ad233e2041..87918c7864 100644
--- a/src/drivers/osd/msp_osd/msp_osd.hpp
+++ b/src/drivers/osd/msp_osd/msp_osd.hpp
@@ -43,7 +43,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/airspeed_validated.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/estimator_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/log_message.h>
@@ -145,7 +144,6 @@ private:
 	// subscriptions to desired vehicle display information
 	uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
-	uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
 	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
 	uORB::Subscription _input_rc_sub{ORB_ID(input_rc)};
 	uORB::Subscription _log_message_sub{ORB_ID(log_message)};
diff --git a/src/drivers/osd/msp_osd/uorb_to_msp.cpp b/src/drivers/osd/msp_osd/uorb_to_msp.cpp
index 1a78179855..e2cf9daf5e 100644
--- a/src/drivers/osd/msp_osd/uorb_to_msp.cpp
+++ b/src/drivers/osd/msp_osd/uorb_to_msp.cpp
@@ -365,7 +365,6 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 }
 
 msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
-				  const estimator_status_s &estimator_status,
 				  const vehicle_global_position_s &vehicle_global_position,
 				  const bool heartbeat)
 {
@@ -375,7 +374,8 @@ msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
 	// Calculate distance and direction to home
 	if (home_position.valid_hpos
 	    && home_position.valid_lpos
-	    && estimator_status.solution_status_flags & (1 << 4)) {
+	    && (hrt_elapsed_time(&vehicle_global_position.timestamp) < 1_s)) {
+
 		float bearing_to_home = math::degrees(get_bearing_to_next_waypoint(vehicle_global_position.lat,
 						      vehicle_global_position.lon,
 						      home_position.lat, home_position.lon));
@@ -425,7 +425,6 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude)
 }
 
 msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
-				  const estimator_status_s &estimator_status,
 				  const vehicle_local_position_s &vehicle_local_position)
 {
 	// initialize result
@@ -438,7 +437,7 @@ msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
 		altitude.estimatedActualPosition = 0;
 	}
 
-	if (estimator_status.solution_status_flags & (1 << 5)) {
+	if (vehicle_local_position.v_z_valid) {
 		altitude.estimatedActualVelocity = -vehicle_local_position.vz * 100; //m/s to cm/s
 
 	} else {
diff --git a/src/drivers/osd/msp_osd/uorb_to_msp.hpp b/src/drivers/osd/msp_osd/uorb_to_msp.hpp
index d841faf522..1f5cdb3b6d 100644
--- a/src/drivers/osd/msp_osd/uorb_to_msp.hpp
+++ b/src/drivers/osd/msp_osd/uorb_to_msp.hpp
@@ -54,7 +54,6 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/estimator_status.h>
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/log_message.h>
 
@@ -94,7 +93,6 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
 
 // construct an MSP_COMP_GPS struct
 msp_comp_gps_t construct_COMP_GPS(const home_position_s &home_position,
-				  const estimator_status_s &estimator_status,
 				  const vehicle_global_position_s &vehicle_global_position,
 				  const bool heartbeat);
 
@@ -103,7 +101,6 @@ msp_attitude_t construct_ATTITUDE(const vehicle_attitude_s &vehicle_attitude);
 
 // construct an MSP_ALTITUDE struct
 msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
-				  const estimator_status_s &estimator_status,
 				  const vehicle_local_position_s &vehicle_local_position);
 
 // construct an MSP_ESC_SENSOR_DATA struct