Why does 3 incher quad needs position estimate? (solved I think faulty GPS)

ArduCopter Copter 4.0
1

hi eveyone,the last few days ive had problems with my 3 incher it keeps coming up with needs position estimate to get flight modes never had this before,what have I done wrong ,and many thanks in advance

2

I get this on my 2.5", maybe just GPS interference?

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3

Thank you Andy,will try recalibrating GPS