diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index 03f862089e..322e6aa0cc 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -628,6 +628,7 @@ void NavEKF3_core::readGpsData()
         } else {
             // report GPS fix status
             gpsCheckStatus.bad_fix = true;
+            hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
         }
     }
 }