diff --git a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
index c88f7f7542..3a5e5447bb 100644
--- a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
@@ -81,6 +81,8 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 			      0.25f);                                                      // innovation gate
 
 	// update the states and covariance using sequential fusion
+	bool fused[3] {};
+
 	for (uint8_t index = 0; index <= 2; index++) {
 		// Calculate Kalman gains and observation jacobians
 		if (index == 0) {
@@ -108,10 +110,16 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 		const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
 
 		if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
-			measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
+			fused[index] = measurementUpdate(K, H,
+							 _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
 		}
 	}
 
-	_aid_src_gravity.fused = true;
-	_aid_src_gravity.time_last_fuse = imu.time_us;
+	if (fused[0] && fused[1] && fused[2]) {
+		_aid_src_gravity.fused = true;
+		_aid_src_gravity.time_last_fuse = imu.time_us;
+
+	} else {
+		_aid_src_gravity.fused = false;
+	}
 }