diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 039b1036c3042..b9668febaaf14 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -250,6 +250,9 @@ void NavEKF2_core::setAidingMode()
             tasTimeout = true;
             gpsNotAvailable = true;
         } else if (posAidLossCritical) {
+            if ((frontend->_flowUse & FLOW_USE_NAV) && optFlowDataPresent() && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
+                PV_AidingMode = AID_NONE;
+            }
             // if the loss of position is critical, declare all sources of position aiding as being timed out
             posTimeout = true;
             velTimeout = true;