diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 352d9a0ce9..c2282fbb9d 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2376,6 +2376,12 @@ int AttPosEKF::CheckAndBound()
         ret = 5;
     }
 
+    if (current_ekf_state.covariancesExcessive) {
+        FillErrorReport(&last_ekf_error);
+        current_ekf_state.covariancesExcessive = false;
+        ret = 6;
+    }
+
     if (ret) {
         ekfDiverged = true;
     }