diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 62628a97ea..6b0540fcc7 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -84,7 +84,7 @@ Ekf::Ekf():
 	_time_last_arsp_fuse(0),
 	_time_last_beta_fuse(0),
 	_last_disarmed_posD(0.0f),
-	_last_dt_overrun(0.0f),
+	_imu_collection_time_adj(0.0f),
 	_time_acc_bias_check(0.0f),
 	_airspeed_innov(0.0f),
 	_airspeed_innov_var(0.0f),
@@ -507,10 +507,12 @@ bool Ekf::collect_imu(imuSample &imu)
 	// if the target time delta between filter prediction steps has been exceeded
 	// write the accumulated IMU data to the ring buffer
 	float target_dt = (float)(FILTER_UPDATE_PERIOD_MS) / 1000;
-	if (_imu_down_sampled.delta_ang_dt >= target_dt - _last_dt_overrun) {
+	if (_imu_down_sampled.delta_ang_dt >= target_dt - _imu_collection_time_adj) {
 
-		// store the amount we have over-run the target update rate by
-		_last_dt_overrun = _imu_down_sampled.delta_ang_dt - target_dt;
+		// accumulate the amount of time to advance the IMU collection time so that we meet the
+		// average EKF update rate requirement
+		_imu_collection_time_adj += 0.01f * (_imu_down_sampled.delta_ang_dt - target_dt);
+		_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * target_dt, 0.5f * target_dt);
 
 		imu.delta_ang     = _q_down_sampled.to_axis_angle();
 		imu.delta_vel     = _imu_down_sampled.delta_vel;
diff --git a/EKF/ekf.h b/EKF/ekf.h
index 890ac87696..ec4a72f99f 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -250,7 +250,7 @@ private:
 	uint64_t _time_last_beta_fuse;	// time the last fusion of synthetic sideslip measurements were performed (usec)
 	Vector2f _last_known_posNE;     // last known local NE position vector (m)
 	float _last_disarmed_posD;      // vertical position recorded at arming (m)
-	float _last_dt_overrun;		// the amount of time the last IMU collection over-ran the target set by FILTER_UPDATE_PERIOD_MS (sec)
+	float _imu_collection_time_adj;	// the amount of time the IMU collection needs to be advanced to meet the target set by FILTER_UPDATE_PERIOD_MS (sec)
 
 	uint64_t _time_acc_bias_check;	// last time the  accel bias check passed (usec)
 
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 0ae88e9133..40e32f00bc 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -297,7 +297,7 @@ protected:
 	This can be adjusted to a value that is FILTER_UPDATE_PERIOD_MS longer than the maximum observation time delay.
 	*/
 	uint8_t _imu_buffer_length;
-	static const unsigned FILTER_UPDATE_PERIOD_MS = 10;	// ekf prediction period in milliseconds
+	static const unsigned FILTER_UPDATE_PERIOD_MS = 12;	// ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
 
 	unsigned _min_obs_interval_us; // minimum time interval between observations that will guarantee data is not lost (usec)