diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 7abfeece12..d53d5e2ea6 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -31,5 +31,4 @@ bool offboard_control_loss_timeout                # true if offboard is lost for
 bool rc_signal_found_once
 bool rc_input_blocked                                # set if RC input should be ignored temporarily
 bool vtol_transition_failure                        # Set to true if vtol transition failed
-bool gps_failure                                # Set to true if a gps failure is detected
 bool usb_connected                                # status of the USB power supply
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index e6879fd79e..2830a2afb0 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -448,42 +448,6 @@ out:
 	return success;
 }
 
-static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail, bool &lock_detected)
-{
-	bool success = true;
-	lock_detected = false;
-	int gpsSub = orb_subscribe(ORB_ID(vehicle_gps_position));
-
-	//Wait up to 2000ms to allow the driver to detect a GNSS receiver module
-	px4_pollfd_struct_t fds[1];
-	fds[0].fd = gpsSub;
-	fds[0].events = POLLIN;
-
-	if (px4_poll(fds, 1, 2000) <= 0) {
-		success = false;
-
-	} else {
-		struct vehicle_gps_position_s gps;
-
-		if ((OK != orb_copy(ORB_ID(vehicle_gps_position), gpsSub, &gps)) ||
-		    (hrt_elapsed_time(&gps.timestamp) > 1000000)) {
-			success = false;
-		} else if (gps.fix_type >= 3) {
-			lock_detected = true;
-		}
-	}
-
-	//Report failure to detect module
-	if (!success) {
-		if (report_fail) {
-			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
-		}
-	}
-
-	orb_unsubscribe(gpsSub);
-	return success;
-}
-
 static bool ekf2Check(orb_advert_t *mavlink_log_pub, bool optional, bool report_fail, bool enforce_gps_required)
 {
 	bool success = true; // start with a pass and change to a fail if any test fails
@@ -779,14 +743,6 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool check
 		}
 	}
 
-	/* ---- Global Navigation Satellite System receiver ---- */
-	if (checkGNSS) {
-		bool lock_detected = false;
-		if (!gnssCheck(mavlink_log_pub, reportFailures, lock_detected)) {
-			failed = true;
-		}
-	}
-
 	/* ---- Navigation EKF ---- */
 	// only check EKF2 data if EKF2 is selected as the estimator and GNSS checking is enabled
 	int32_t estimator_type;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 90db3fd2da..3af49db8c5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -136,8 +136,6 @@ typedef enum VEHICLE_MODE_FLAG
 	VEHICLE_MODE_FLAG_ENUM_END=129, /*  | */
 } VEHICLE_MODE_FLAG;
 
-static constexpr uint8_t COMMANDER_MAX_GPS_NOISE = 60;		/**< Maximum percentage signal to noise ratio allowed for GPS reception */
-
 /* Decouple update interval and hysteresis counters, all depends on intervals */
 #define COMMANDER_MONITORING_INTERVAL 10000
 #define COMMANDER_MONITORING_LOOPSPERMSEC (1/(COMMANDER_MONITORING_INTERVAL/1000.0f))
@@ -1344,13 +1342,6 @@ Commander::run()
 	status_flags.condition_local_velocity_valid = false;
 	status_flags.condition_local_altitude_valid = false;
 
-	// initialize gps failure to false if circuit breaker enabled
-	if (status_flags.circuit_breaker_engaged_gpsfailure_check) {
-		status_flags.gps_failure = false;
-	} else {
-		status_flags.gps_failure = true;
-	}
-
 	/* publish initial state */
 	status_pub = orb_advertise(ORB_ID(vehicle_status), &status);
 
@@ -1457,10 +1448,6 @@ Commander::run()
 
 	/* Subscribe to GPS topic */
 	int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	struct vehicle_gps_position_s gps_position;
-	memset(&gps_position, 0, sizeof(gps_position));
-	gps_position.eph = FLT_MAX;
-	gps_position.epv = FLT_MAX;
 
 	/* Subscribe to differential pressure topic */
 	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
@@ -2339,54 +2326,22 @@ Commander::run()
 		orb_check(gps_sub, &updated);
 
 		if (updated) {
+
+			vehicle_gps_position_s gps_position = {};
+			gps_position.eph = FLT_MAX;
+			gps_position.epv = FLT_MAX;
+
 			orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
-		}
 
-		/* Initialize map projection if gps is valid */
-		if (!map_projection_global_initialized()
-		    && (gps_position.eph < eph_threshold)
-		    && (gps_position.epv < epv_threshold)
-		    && hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp) < 1e6) {
-			/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
-			globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
-						  (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
-		}
+			/* Initialize map projection if gps is valid */
+			if (!map_projection_global_initialized()
+			    && (gps_position.eph < eph_threshold)
+			    && (gps_position.epv < epv_threshold)
+			    && hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp) < 1e6) {
 
-		/* check if GPS is ok */
-		if (!status_flags.circuit_breaker_engaged_gpsfailure_check) {
-			bool gpsIsNoisy = gps_position.noise_per_ms > 0 && gps_position.noise_per_ms < COMMANDER_MAX_GPS_NOISE;
-
-			//Check if GPS receiver is too noisy while we are disarmed
-			if (!armed.armed && gpsIsNoisy) {
-				if (!status_flags.gps_failure) {
-					mavlink_log_critical(&mavlink_log_pub, "GPS signal noisy");
-					set_tune_override(TONE_GPS_WARNING_TUNE);
-
-					//GPS suffers from signal jamming or excessive noise, disable GPS-aided flight
-					status_flags.gps_failure = true;
-					status_changed = true;
-				}
+				/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
+				globallocalconverter_init(gps_position.lat * 1.0e-7, gps_position.lon * 1.0e-7, gps_position.alt * 1.0e-3f, hrt_absolute_time());
 			}
-
-			// Check fix type and data freshness
-			if (gps_position.fix_type >= 3 && hrt_elapsed_time(&gps_position.timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
-				/* handle the case where gps was regained */
-				if (status_flags.gps_failure && !gpsIsNoisy) {
-					status_flags.gps_failure = false;
-					status_changed = true;
-					if (status_flags.condition_home_position_valid) {
-						mavlink_log_critical(&mavlink_log_pub, "GPS fix regained");
-					}
-				}
-
-			} else if (!status_flags.gps_failure) {
-				status_flags.gps_failure = true;
-				status_changed = true;
-				if (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
-					mavlink_log_critical(&mavlink_log_pub, "GPS fix lost");
-				}
-			}
-
 		}
 
 		/* start mission result check */
@@ -2890,7 +2845,7 @@ Commander::run()
 			    internal_state.main_state != commander_state_s::MAIN_STATE_STAB &&
 			    internal_state.main_state != commander_state_s::MAIN_STATE_ALTCTL &&
 			    internal_state.main_state != commander_state_s::MAIN_STATE_POSCTL &&
-			    ((status.data_link_lost && status_flags.gps_failure))) {
+			    status.data_link_lost) {
 
 				armed.force_failsafe = true;
 				status_changed = true;
@@ -2915,7 +2870,7 @@ Commander::run()
 			     internal_state.main_state == commander_state_s::MAIN_STATE_STAB ||
 			     internal_state.main_state == commander_state_s::MAIN_STATE_ALTCTL ||
 			     internal_state.main_state == commander_state_s::MAIN_STATE_POSCTL) &&
-			    ((status.rc_signal_lost && status_flags.gps_failure))) {
+			    status.rc_signal_lost) {
 
 				armed.force_failsafe = true;
 				status_changed = true;
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 3274893c1c..50d9f72477 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -71,7 +71,6 @@ using namespace DriverFramework;
 static const char reason_no_rc[] = "no RC";
 static const char reason_no_offboard[] = "no offboard";
 static const char reason_no_rc_and_no_offboard[] = "no RC and no offboard";
-static const char reason_no_gps[] = "no gps";
 static const char reason_no_local_position[] = "no local position";
 static const char reason_no_global_position[] = "no global position";
 static const char reason_no_datalink[] = "no datalink";
@@ -696,18 +695,7 @@ bool set_nav_state(struct vehicle_status_s *status,
 		 * - if we have vtol transition failure
 		 * - depending on datalink, RC and if the mission is finished */
 
-		if (status_flags->gps_failure) {
-			if (status->is_rotary_wing) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
-
-			} else {
-				// TODO: FW position controller doesn't run without condition_global_position_valid
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
-			}
-
-			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
-
-		} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
+		if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
 			// nothing to do - everything done in check_invalid_pos_nav_state
 		} else if (status->engine_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
@@ -747,16 +735,6 @@ bool set_nav_state(struct vehicle_status_s *status,
 		if (status->engine_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
 
-		} else if (status_flags->gps_failure) {
-			if (status->is_rotary_wing) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
-
-			} else {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
-			}
-
-			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
-
 		} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
 			// nothing to do - everything done in check_invalid_pos_nav_state
 		} else if (status->data_link_lost && data_link_loss_act_configured && !landed) {
@@ -791,17 +769,6 @@ bool set_nav_state(struct vehicle_status_s *status,
 		if (status->engine_failure) {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
 
-		} else if (status_flags->gps_failure) {
-			if (status->is_rotary_wing) {
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
-
-			} else {
-				// TODO: FW position controller doesn't run without condition_global_position_valid
-				status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
-			}
-
-			enable_failsafe(status, old_failsafe, mavlink_log_pub, reason_no_gps);
-
 		} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
 			// nothing to do - everything done in check_invalid_pos_nav_state
 		} else {