diff --git a/src/modules/ekf2/EKF/ev_control.cpp b/src/modules/ekf2/EKF/ev_control.cpp
index b098fcfab4..fb444959ac 100644
--- a/src/modules/ekf2/EKF/ev_control.cpp
+++ b/src/modules/ekf2/EKF/ev_control.cpp
@@ -41,6 +41,7 @@
 void Ekf::controlExternalVisionFusion()
 {
 	_ev_pos_b_est.predict(_dt_ekf_avg);
+	_ev_hgt_b_est.predict(_dt_ekf_avg);
 
 	// Check for new external vision data
 	extVisionSample ev_sample;
diff --git a/src/modules/ekf2/EKF/ev_height_control.cpp b/src/modules/ekf2/EKF/ev_height_control.cpp
index 87c8224526..76c85354e5 100644
--- a/src/modules/ekf2/EKF/ev_height_control.cpp
+++ b/src/modules/ekf2/EKF/ev_height_control.cpp
@@ -44,8 +44,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, bool starting_
 	static constexpr const char *AID_SRC_NAME = "EV height";
 
 	HeightBiasEstimator &bias_est = _ev_hgt_b_est;
-
-	bias_est.predict(_dt_ekf_avg);
+	//bias_est.predict(_dt_ekf_avg); // handled by controlExternalVisionFusion()
 
 	// correct position for offset relative to IMU
 	const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;