diff --git a/src/modules/ekf2/EKF/baro_bias_estimator.cpp b/src/modules/ekf2/EKF/baro_bias_estimator.cpp
index f9625ae0d4..26e4a754a5 100644
--- a/src/modules/ekf2/EKF/baro_bias_estimator.cpp
+++ b/src/modules/ekf2/EKF/baro_bias_estimator.cpp
@@ -43,13 +43,23 @@ void BaroBiasEstimator::predict(const float dt)
 {
 	// State is constant
 	// Predict state covariance only
-	_state_var += _process_var * dt * dt;
+	float delta_state_var = _process_var * dt * dt;
+
+	if (isOffsetDetected()) {
+		// A bias in the state has been detected by the innovation sequence check
+		// Boost the process noise until the offset is removed
+		delta_state_var *= _process_var_boost_gain;
+	}
+
+	_state_var += delta_state_var;
 	constrainStateVar();
 
 	if (dt > FLT_EPSILON && fabsf(_dt - dt) > 0.001f) {
-		_signed_innov_test_ratio_lpf.setParameters(dt, _lpf_time_constant);
+		_signed_innov_test_ratio_lpf.setParameters(dt, _innov_sequence_monitnoring_time_constant);
 		_dt = dt;
 	}
+
+	_status.bias_var = _state_var;
 }
 
 void BaroBiasEstimator::constrainStateVar()
@@ -70,14 +80,7 @@ void BaroBiasEstimator::fuseBias(const float measurement, const float measuremen
 
 	}
 
-	if (isLargeOffsetDetected()) {
-		// A bias in the state has been detected by the innovation
-		// sequence check.
-		bumpStateVariance();
-	}
-
-	const float signed_innov_test_ratio = matrix::sign(innov) * innov_test_ratio;
-	_signed_innov_test_ratio_lpf.update(math::constrain(signed_innov_test_ratio, -1.f, 1.f));
+	updateOffsetDetection(innov, innov_test_ratio);
 
 	_status = packStatus(innov, innov_var, innov_test_ratio);
 }
@@ -103,14 +106,28 @@ inline void BaroBiasEstimator::updateStateCovariance(const float K)
 	constrainStateVar();
 }
 
-inline bool BaroBiasEstimator::isLargeOffsetDetected() const
+inline void BaroBiasEstimator::updateOffsetDetection(const float innov, const float innov_test_ratio)
 {
-	return fabsf(_signed_innov_test_ratio_lpf.getState()) > 0.2f;
+	const float signed_innov_test_ratio = matrix::sign(innov) * innov_test_ratio;
+	_signed_innov_test_ratio_lpf.update(math::constrain(signed_innov_test_ratio, -1.f, 1.f));
+
+	if (innov > 0.f) {
+		_time_since_last_positive_innov = 0.f;
+		_time_since_last_negative_innov += _dt;
+
+	} else {
+		_time_since_last_negative_innov = 0.f;
+		_time_since_last_positive_innov += _dt;
+	}
 }
 
-inline void BaroBiasEstimator::bumpStateVariance()
+inline bool BaroBiasEstimator::isOffsetDetected() const
 {
-	_state_var += _process_var_boost_gain * _process_var * _dt * _dt;
+	// There is an offset in the estimate if the average of innovation is statistically too large
+	// or if the sign of the innovation is constantly the same
+	return fabsf(_signed_innov_test_ratio_lpf.getState()) > 0.2f
+	       || (_time_since_last_positive_innov > _innov_sequence_monitnoring_time_constant)
+	       || (_time_since_last_negative_innov > _innov_sequence_monitnoring_time_constant);
 }
 
 inline BaroBiasEstimator::status BaroBiasEstimator::packStatus(const float innov, const float innov_var,
diff --git a/src/modules/ekf2/EKF/baro_bias_estimator.hpp b/src/modules/ekf2/EKF/baro_bias_estimator.hpp
index 5280b542d0..e559b0a544 100644
--- a/src/modules/ekf2/EKF/baro_bias_estimator.hpp
+++ b/src/modules/ekf2/EKF/baro_bias_estimator.hpp
@@ -78,7 +78,6 @@ public:
 	void setProcessNoiseStdDev(float process_noise)
 	{
 		_process_var = process_noise * process_noise;
-		_state_drift_rate = 3.f * process_noise;
 	}
 	void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; }
 	void setInnovGate(float gate_size) { _gate_size = gate_size; }
@@ -92,7 +91,6 @@ public:
 private:
 	float _state{0.f};
 	float _state_max{100.f};
-	float _state_drift_rate{0.005f}; ///< in m/s
 	float _dt{0.01f};
 
 	float _gate_size{3.f}; ///< Used for innovation filtering (innovation test ratio)
@@ -100,7 +98,10 @@ private:
 	float _process_var{25.0e-6f}; ///< State process noise variance (m^2/s^2)
 	float _state_var_max{2.f}; ///< Used to constrain the state variance (m^2)
 
-	AlphaFilter<float> _signed_innov_test_ratio_lpf; ///< innovation sequence monitoring; used to detect a bias in the state
+	// Innovation sequence monitoring; used to detect a bias in the state
+	AlphaFilter<float> _signed_innov_test_ratio_lpf;
+	float _time_since_last_negative_innov{0.f};
+	float _time_since_last_positive_innov{0.f};
 
 	status _status;
 
@@ -118,12 +119,12 @@ private:
 	void updateState(float K, float innov);
 	void updateStateCovariance(float K);
 
-	bool isLargeOffsetDetected() const;
-	void bumpStateVariance();
+	void updateOffsetDetection(float innov, float innov_test_ratio);
+	bool isOffsetDetected() const;
 
 	status packStatus(float innov, float innov_var, float innov_test_ratio) const;
 
-	static constexpr float _lpf_time_constant{10.f}; ///< in seconds
+	static constexpr float _innov_sequence_monitnoring_time_constant{10.f}; ///< in seconds
 	static constexpr float _process_var_boost_gain{1.0e3f};
 };
 #endif // !EKF_BARO_BIAS_ESTIMATOR_HPP