diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index d126c09a52..d94b2a076a 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -148,6 +148,11 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
 	}
 
 	if ((gps.time_usec - _time_last_gps) > _min_obs_interval_us) {
+
+		if (!gps.vel_ned_valid || (gps.fix_type == 0)) {
+			return;
+		}
+
 		_time_last_gps = gps.time_usec;
 
 		gpsSample gps_sample_new;
diff --git a/src/modules/ekf2/test/test_EKF_gps.cpp b/src/modules/ekf2/test/test_EKF_gps.cpp
index 436b52b3da..dcbc72fbe4 100644
--- a/src/modules/ekf2/test/test_EKF_gps.cpp
+++ b/src/modules/ekf2/test/test_EKF_gps.cpp
@@ -79,6 +79,7 @@ public:
 TEST_F(EkfGpsTest, gpsTimeout)
 {
 	// GIVEN:EKF that fuses GPS
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
 
 	// WHEN: setting the PDOP to high
 	_sensor_simulator._gps.setNumberOfSatellites(3);
@@ -90,6 +91,24 @@ TEST_F(EkfGpsTest, gpsTimeout)
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
 }
 
+TEST_F(EkfGpsTest, gpsFixLoss)
+{
+	// GIVEN:EKF that fuses GPS
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
+
+	// WHEN: the fix is loss
+	_sensor_simulator._gps.setFixType(0);
+
+	// THEN: after dead-reconing for a couple of seconds, the local position gets invalidated
+	_sensor_simulator.runSeconds(5);
+	EXPECT_TRUE(_ekf->control_status_flags().inertial_dead_reckoning);
+	EXPECT_FALSE(_ekf->local_position_is_valid());
+
+	// The control logic takes a bit more time to deactivate the GNSS fusion completely
+	_sensor_simulator.runSeconds(5);
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
+}
+
 TEST_F(EkfGpsTest, resetToGpsVelocity)
 {
 	ResetLoggingChecker reset_logging_checker(_ekf);