diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index cca8365be0..d3b154ff20 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -407,7 +407,7 @@ void  NavEKF2_core::updateFilterStatus(void)
     bool doingNormalGpsNav = !posTimeout && (PV_AidingMode == AID_ABSOLUTE);
     bool someVertRefData = (!velTimeout && useGpsVertVel) || !hgtTimeout;
     bool someHorizRefData = !(velTimeout && posTimeout && tasTimeout) || doingFlowNav;
-    bool optFlowNavPossible = flowDataValid && (frontend->_fusionModeGPS == 3) && delAngBiasLearned;
+    bool optFlowNavPossible = flowDataValid && delAngBiasLearned;
     bool gpsNavPossible = !gpsNotAvailable && gpsGoodToAlign && delAngBiasLearned;
     bool filterHealthy = healthy() && tiltAlignComplete && (yawAlignComplete || (!use_compass() && (PV_AidingMode == AID_NONE)));
     // If GPS height usage is specified, height is considered to be inaccurate until the GPS passes all checks