diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index 5610885d14..6c2577b20c 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -193,6 +193,7 @@ struct gpsSample {
 	float       vacc{};     ///< 1-std vertical position error (m)
 	float       sacc{};     ///< 1-std speed error (m/sec)
 	float       yaw_acc{};  ///< 1-std yaw error (rad)
+	uint8_t     fix_type{}; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic
 };
 
 struct magSample {
diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index 0955251586..51f3d5abb7 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -178,6 +178,8 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
 
 		gps_sample_new.hgt = (float)gps.alt * 1e-3f;
 
+		gps_sample_new.fix_type = gps.fix_type;
+
 #if defined(CONFIG_EKF2_GNSS_YAW)
 
 		if (PX4_ISFINITE(gps.yaw)) {
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index 9848ad6b0b..e67936711b 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -328,7 +328,8 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
 
 	if (is_new_data_available) {
 
-		const bool continuing_conditions_passing = !gps_checks_failing;
+		const bool continuing_conditions_passing = !gps_checks_failing
+				&& gps_sample.fix_type >= 6; // RTK "fixed" is required for accurate heading
 
 		const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push,
 				2 * GNSS_YAW_MAX_INTERVAL);