diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 830dccf7fb..41e61c7fb5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -71,7 +71,8 @@ bool NavEKF3_core::setup_core(NavEKF3 *_frontend, uint8_t _imu_index, uint8_t _c
     // GPS sensing can have large delays and should not be included if disabled
     if (_frontend->_fusionModeGPS != 3) {
         // Wait for the configuration of all GPS units to be confirmed. Until this has occurred the GPS driver cannot provide a correct time delay
-        if (!_ahrs->get_gps().all_configured()) {
+        float gps_delay_sec = 0;
+        if (!_ahrs->get_gps().get_lag(gps_delay_sec)) {
             if (AP_HAL::millis() - lastInitFailReport_ms > 10000) {
                 lastInitFailReport_ms = AP_HAL::millis();
                 // provide an escalating series of messages
@@ -86,7 +87,7 @@ bool NavEKF3_core::setup_core(NavEKF3 *_frontend, uint8_t _imu_index, uint8_t _c
             return false;
         }
         // limit the time delay value from the GPS library to a max of 250 msec which is the max value the EKF has been tested for.
-        maxTimeDelay_ms = MAX(maxTimeDelay_ms , MIN((uint16_t)(_ahrs->get_gps().get_lag() * 1000.0f),250));
+        maxTimeDelay_ms = MAX(maxTimeDelay_ms , MIN((uint16_t)(gps_delay_sec * 1000.0f),250));
     }
 
     // airspeed sensing can have large delays and should not be included if disabled