diff --git a/EKF/estimator_base.cpp b/EKF/estimator_base.cpp
index c0b3f9483f..5ae5cb469f 100644
--- a/EKF/estimator_base.cpp
+++ b/EKF/estimator_base.cpp
@@ -171,8 +171,6 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
 		gps_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
 		_time_last_gps = time_usec;
 
-        _last_valid_gps_time_us = _time_last_imu;
-
 		gps_sample_new.time_us = math::max(gps_sample_new.time_us, _imu_sample_delayed.time_us);
 
 
@@ -325,7 +323,7 @@ bool EstimatorBase::position_is_valid()
 {
 	// return true if the position estimate is valid
 	// TOTO implement proper check based on published GPS accuracy, innovaton consistency checks and timeout status
-    return _gps_initialised &&  (_time_last_imu - _last_valid_gps_time_us) < 5e6;
+    return _gps_initialised &&  (_time_last_imu - _time_last_gps) < 5e6;
 }
 
 void EstimatorBase::printStoredIMU()
diff --git a/EKF/estimator_base.h b/EKF/estimator_base.h
index 3aa7ed219d..793eced7aa 100644
--- a/EKF/estimator_base.h
+++ b/EKF/estimator_base.h
@@ -231,8 +231,6 @@ protected:
 	float _dt_imu_avg;
 	uint64_t _imu_time_last;
 
-	uint64_t _last_valid_gps_time_us;
-
 	imuSample _imu_sample_delayed;
 	imuSample _imu_down_sampled;
 	Quaternion