diff --git a/Makefile b/Makefile
index a507be0826..2b9a34553f 100644
--- a/Makefile
+++ b/Makefile
@@ -104,13 +104,13 @@ endef
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
 
-px4fmu-v1_default:
+px4fmu-v1_default: git-init
 	$(call cmake-build,nuttx_px4fmu-v1_default)
 
-px4fmu-v2_default:
+px4fmu-v2_default: git-init
 	$(call cmake-build,nuttx_px4fmu-v2_default)
 
-px4fmu-v2_simple:
+px4fmu-v2_simple: git-init
 	$(call cmake-build,nuttx_px4fmu-v2_simple)
 
 nuttx_sim_simple:
@@ -181,6 +181,11 @@ distclean: clean
 	@git clean -d -f -x
 	@cd ../../../..
 
+# XXX this is not the right way to fix it, but we need a temporary solution
+# for average joe
+git-init:
+	@git submodule update --init --recursive
+
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
diff --git a/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h b/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
index 812eb87fd8..1429979d6d 100644
--- a/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
+++ b/src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
@@ -180,6 +180,7 @@ private:
     hrt_abstime _last_accel;
     hrt_abstime _last_mag;
     unsigned _prediction_steps;
+    uint64_t _prediction_last;
 
     struct sensor_combined_s            _sensor_combined;
 
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index f9f33b4aa6..8cb8993f0a 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -159,6 +159,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
 	_last_accel(0),
 	_last_mag(0),
 	_prediction_steps(0),
+	_prediction_last(0),
 
 	_sensor_combined{},
 
@@ -1069,11 +1070,12 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
 	_covariancePredictionDt += _ekf->dtIMU;
 
 	// only fuse every few steps
-	if (_prediction_steps < MAX_PREDICITION_STEPS) {
+	if (_prediction_steps < MAX_PREDICITION_STEPS && ((hrt_absolute_time() - _prediction_last) < 20 * 1000)) {
 		_prediction_steps++;
 		return;
 	} else {
 		_prediction_steps = 0;
+		_prediction_last = hrt_absolute_time();
 	}
 
 	// perform a covariance prediction if the total delta angle has exceeded the limit