diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 466b48a8fb..f9305acb61 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -1153,9 +1153,9 @@ bool Ekf::global_position_is_valid()
 bool Ekf::inertial_dead_reckoning()
 {
 	bool velPosAiding = (_control_status.flags.gps || _control_status.flags.ev_pos)
-			    && ((_time_last_imu - _time_last_pos_fuse <= 1E6) || (_time_last_imu - _time_last_vel_fuse <= 1E6));
-	bool optFlowAiding = _control_status.flags.opt_flow && (_time_last_imu - _time_last_of_fuse <= 1E6);
-	bool airDataAiding = _control_status.flags.wind && (_time_last_imu - _time_last_arsp_fuse <= 1E6) && (_time_last_imu - _time_last_beta_fuse <= 1E6);
+			    && ((_time_last_imu - _time_last_pos_fuse <= _params.no_aid_timeout_max) || (_time_last_imu - _time_last_vel_fuse <= _params.no_aid_timeout_max));
+	bool optFlowAiding = _control_status.flags.opt_flow && (_time_last_imu - _time_last_of_fuse <= _params.no_aid_timeout_max);
+	bool airDataAiding = _control_status.flags.wind && (_time_last_imu - _time_last_arsp_fuse <= _params.no_aid_timeout_max) && (_time_last_imu - _time_last_beta_fuse <= _params.no_aid_timeout_max);
 
 	return !velPosAiding && !optFlowAiding && !airDataAiding;
 }