diff --git a/EKF/control.cpp b/EKF/control.cpp
index afc699fe02..dad5b03d32 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -728,7 +728,7 @@ void Ekf::controlGpsFusion()
 
 			// set innovation gate size
 			gps_pos_innov_gates(0) = fmaxf(_params.gps_pos_innov_gate, 1.0f);
-			gps_pos_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
+			gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
 
 			// fuse GPS measurement
 			fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates,gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
diff --git a/EKF/ekf.h b/EKF/ekf.h
index 557ebd13bb..6ff9ccf2aa 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -261,7 +261,7 @@ public:
 	// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
 	// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
 	// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
-	void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) override;
+	void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta) override;
 
 	// return a bitmask integer that describes which state estimates can be used for flight control
 	void get_ekf_soln_status(uint16_t *status) override;
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index e7361e934c..9a05fee22b 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -1277,20 +1277,18 @@ bool Ekf::reset_imu_bias()
 // Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
 // A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
 // Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
-void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta)
+void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta)
 {
 	// return the integer bitmask containing the consistency check pass/fail status
 	status = _innov_check_fail_status.value;
 	// return the largest magnetometer innovation test ratio
 	mag = sqrtf(math::max(_yaw_test_ratio, math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2])));
-	// return the largest NED GPS velocity innovation test ratio
-	gps_vel = sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1)));
-	// return the largest NE GPS position innovation test ratio
-	gps_pos = sqrtf(_gps_pos_test_ratio(0));
-	// return the largest external vision velocity innovation test ratio
-	ev_vel = sqrtf(math::max(_ev_vel_test_ratio(0), _ev_vel_test_ratio(1)));
-	// return the largest horizontal external vision position innovation test ratio
-	ev_pos = sqrtf(_ev_pos_test_ratio(0));
+	// return the largest velocity innovation test ratio
+	vel = math::max(sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1))),
+			sqrtf(math::max(_ev_vel_test_ratio(0), _ev_vel_test_ratio(1))));
+	// return the largest position innovation test ratio
+	pos = math::max(sqrtf(_gps_pos_test_ratio(0)),sqrtf(_ev_pos_test_ratio(0)));
+
 	// return the vertical position innovation test ratio
 	hgt = sqrtf(_gps_pos_test_ratio(0));
 	// return the airspeed fusion innovation test ratio
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 8d78b31d9e..6f236113c1 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -373,7 +373,7 @@ public:
 	// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
 	// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
 	// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
-	virtual void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
+	virtual void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
 
 	// return a bitmask integer that describes which state estimates can be used for flight control
 	virtual void get_ekf_soln_status(uint16_t *status) = 0;