diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 1a2c4395ae..8cc2c2e9e3 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -244,39 +244,13 @@ void Geofence::_updateFence()
 	}
 }
 
-bool Geofence::checkAll(const struct vehicle_global_position_s &global_position)
+
+bool Geofence::checkPointAgainstAllGeofences(double lat, double lon, float altitude)
 {
-	return checkAll(global_position.lat, global_position.lon, global_position.alt);
-}
-
-bool Geofence::checkAll(double lat, double lon, float altitude)
-{
-	bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude);
-
-	inside_fence = inside_fence && isBelowMaxAltitude(altitude);
-
-	// to be inside the geofence both fences have to report being inside
-	// as they both report being inside when not enabled
-	inside_fence = inside_fence && isInsidePolygonOrCircle(lat, lon, altitude);
-
+	const bool inside_fence = isCloserThanMaxDistToHome(lat, lon, altitude) && isBelowMaxAltitude(altitude)
+				  && isInsidePolygonOrCircle(lat, lon, altitude);
 	return inside_fence;
 }
-}
-
-bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
-{
-	if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
-		return checkAll(global_position);
-
-	} else {
-		return checkAll(gps_position.latitude_deg, gps_position.longitude_deg, gps_position.altitude_msl_m);
-	}
-}
-
-bool Geofence::check(const struct mission_item_s &mission_item)
-{
-	return checkAll(mission_item.lat, mission_item.lon, mission_item.altitude);
-}
 
 bool Geofence::isCloserThanMaxDistToHome(double lat, double lon, float altitude)
 {
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 329edf6ca8..5b9f755d9b 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -81,28 +81,6 @@ public:
 	 */
 	void updateFence();
 
-	/**
-	 * Return whether the system obeys the geofence.
-	 *
-	 * @return true: system is obeying fence, false: system is violating fence
-	 */
-	bool check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position);
-
-	/**
-	 * Return whether a mission item obeys the geofence.
-	 *
-	 * @return true: system is obeying fence, false: system is violating fence
-	 */
-	bool check(const struct mission_item_s &mission_item);
-
-	/**
-	 * Check if a point passes the Geofence test.
-	 * In addition to checkPolygons(), this takes all additional parameters into account.
-	 *
-	 * @return false for a geofence violation
-	 */
-	bool checkAll(double lat, double lon, float altitude);
-
 	bool isCloserThanMaxDistToHome(double lat, double lon, float altitude);
 
 	bool isBelowMaxAltitude(float altitude);
@@ -210,10 +188,6 @@ private:
 	 */
 	bool checkPolygons(double lat, double lon, float altitude);
 
-
-
-	bool checkAll(const vehicle_global_position_s &global_position);
-
 	/**
 	 * Check if a single point is within a polygon
 	 * @return true if within polygon
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index 75ba23391e..b67a85224f 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -137,7 +137,8 @@ MissionFeasibilityChecker::checkMissionAgainstGeofence(const mission_s &mission,
 			// Geofence function checks against home altitude amsl
 			missionitem.altitude = missionitem.altitude_is_relative ? missionitem.altitude + home_alt : missionitem.altitude;
 
-			if (MissionBlock::item_contains_position(missionitem) && !_navigator->get_geofence().check(missionitem)) {
+			if (MissionBlock::item_contains_position(missionitem) && !_navigator->get_geofence().checkPointAgainstAllGeofences(
+				    missionitem.lat, missionitem.lon, missionitem.altitude)) {
 
 				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Geofence violation for waypoint %zu\t", i + 1);
 				events::send<int16_t>(events::ID("navigator_mis_geofence_violation"), {events::Log::Error, events::LogInternal::Info},
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 373721f89c..675cf8c286 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -1469,8 +1469,8 @@ bool Navigator::geofence_allows_position(const vehicle_global_position_s &pos)
 	if ((_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
 	    (_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_WARN)) {
 
-		if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon)) {
-			return _geofence.check(pos, _gps_pos);
+		if (PX4_ISFINITE(pos.lat) && PX4_ISFINITE(pos.lon) && PX4_ISFINITE(pos.alt)) {
+			return _geofence.checkPointAgainstAllGeofences(pos.lat, pos.lon, pos.alt);
 		}
 	}