diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 3cd981cc6a..8d4b8d5428 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -396,6 +396,13 @@ void Ekf::controlOpticalFlowFusion()
 				_flow_sample_delayed.dt = delta_time_min;
 			}
 
+			// don't allow invalid flow gyro_xyz to propagate
+			if (!is_body_rate_comp_available) {
+				if (!PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2))) {
+					_flow_sample_delayed.gyro_xyz.zero();
+				}
+			}
+
 			// when on the ground with poor flow quality,
 			// assume zero ground relative velocity and LOS rate
 			_flow_compensated_XY_rad.setZero();