diff --git a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
index 3a5e5447bb..ffa1fe31fd 100644
--- a/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
@@ -110,6 +110,9 @@ void Ekf::controlGravityFusion(const imuSample &imu)
 		const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
 
 		if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
+			// Prevent heading corrections through gravity fusion due to correlations between tilt and heading in P
+			K(State::quat_nominal.idx + 2) = 0.f;
+
 			fused[index] = measurementUpdate(K, H,
 							 _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
 		}