diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index c38ea3e557..48130ad5a9 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -313,7 +313,7 @@ bool NavEKF2_core::optFlowDataPresent(void) const
 // return true if the filter to be ready to use gps
 bool NavEKF2_core::readyToUseGPS(void) const
 {
-    return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign && (frontend->_fusionModeGPS != 3);
+    return validOrigin && tiltAlignComplete && yawAlignComplete && gpsGoodToAlign && (frontend->_fusionModeGPS != 3) && gpsDataToFuse;
 }
 
 // return true if we should use the compass
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 634be7b4a0..520d55d4ea 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -417,6 +417,8 @@ void NavEKF2_core::readGpsData()
             if (PV_AidingMode != AID_ABSOLUTE) {
                 // Pre-alignment checks
                 gpsGoodToAlign = calcGpsGoodToAlign();
+            } else {
+                gpsGoodToAlign = false;
             }
 
             // Post-alignment checks