diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 38b3a9ff7e..0018f00d44 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -893,12 +893,13 @@ void Ekf2::Run()
 					PX4_INFO("Mag sensor ID changed to %i", _param_ekf2_magbias_id.get());
 				}
 
-				float magnetometer_ga [3];
-				magnetometer_ga[0] = magnetometer.magnetometer_ga[0] - _param_ekf2_magbias_x.get();
-				magnetometer_ga[1] = magnetometer.magnetometer_ga[1] - _param_ekf2_magbias_y.get();
-				magnetometer_ga[2] = magnetometer.magnetometer_ga[2] - _param_ekf2_magbias_z.get();
+				magSample mag_sample;
+				mag_sample.mag(0) = magnetometer.magnetometer_ga[0] - _param_ekf2_magbias_x.get();
+				mag_sample.mag(1) = magnetometer.magnetometer_ga[1] - _param_ekf2_magbias_y.get();
+				mag_sample.mag(2) = magnetometer.magnetometer_ga[2] - _param_ekf2_magbias_z.get();
+				mag_sample.time_us = magnetometer.timestamp;
 
-				_ekf.setMagData(magnetometer.timestamp, magnetometer_ga);
+				_ekf.setMagData(mag_sample);
 				ekf2_timestamps.vehicle_magnetometer_timestamp_rel = (int16_t)((int64_t)magnetometer.timestamp / 100 -
 						(int64_t)ekf2_timestamps.timestamp / 100);
 			}