diff --git a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
index 3fd871d7b7..c498973c57 100644
--- a/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
+++ b/src/modules/mavlink/streams/GPS_GLOBAL_ORIGIN.hpp
@@ -85,16 +85,13 @@ protected:
 	{
 		vehicle_local_position_s vehicle_local_position;
 
-		if (_vehicle_local_position_sub.update(&vehicle_local_position)) {
+		if (_vehicle_local_position_sub.copy(&vehicle_local_position)
+		    && vehicle_local_position.xy_global && vehicle_local_position.z_global) {
 			mavlink_gps_global_origin_t msg{};
-
-			if (vehicle_local_position.ref_timestamp > 0) {
-				msg.latitude = static_cast<int32_t>(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
-				msg.longitude = static_cast<int32_t>(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
-				msg.altitude = static_cast<int32_t>(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
-				msg.time_usec = vehicle_local_position.timestamp; // int64 time since system boot
-			}
-
+			msg.latitude = static_cast<int32_t>(vehicle_local_position.ref_lat * 1e7); // double degree -> int32 degreeE7
+			msg.longitude = static_cast<int32_t>(vehicle_local_position.ref_lon * 1e7); // double degree -> int32 degreeE7
+			msg.altitude = static_cast<int32_t>(vehicle_local_position.ref_alt * 1e3f); // float m -> int32 mm
+			msg.time_usec = vehicle_local_position.timestamp; // int64 time since system boot
 			mavlink_msg_gps_global_origin_send_struct(_mavlink->get_channel(), &msg);
 			return true;
 		}