diff --git a/src/modules/ekf2/Utility/InnovationLpf.hpp b/src/modules/ekf2/Utility/InnovationLpf.hpp
index a542f6aa4a..adf897406e 100644
--- a/src/modules/ekf2/Utility/InnovationLpf.hpp
+++ b/src/modules/ekf2/Utility/InnovationLpf.hpp
@@ -71,7 +71,7 @@ public:
 	 */
 	static float computeAlphaFromDtAndTauInv(float dt, float tau_inv)
 	{
-		return dt * tau_inv;
+		return math::constrain(dt * tau_inv, 0.f, 1.f);
 	}
 
 private:
diff --git a/src/modules/ekf2/Utility/PreFlightChecker.cpp b/src/modules/ekf2/Utility/PreFlightChecker.cpp
index 36dc3e695e..732870ea8f 100644
--- a/src/modules/ekf2/Utility/PreFlightChecker.cpp
+++ b/src/modules/ekf2/Utility/PreFlightChecker.cpp
@@ -117,12 +117,6 @@ bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov, const Vector2f
 	       || innov.norm_squared() > sq(2.0f * test_limit);
 }
 
-uint8_t PreFlightChecker::prefltFailBoolToBitMask(const bool heading_failed, const bool horiz_vel_failed,
-		const bool vert_vel_failed, const bool height_failed)
-{
-	return heading_failed | (horiz_vel_failed << 1) | (vert_vel_failed << 2) | (height_failed << 3);
-}
-
 void PreFlightChecker::reset()
 {
 	_is_using_gps_aiding = false;
diff --git a/src/modules/ekf2/Utility/PreFlightChecker.hpp b/src/modules/ekf2/Utility/PreFlightChecker.hpp
index 0bff50dafe..6d6da18c3a 100644
--- a/src/modules/ekf2/Utility/PreFlightChecker.hpp
+++ b/src/modules/ekf2/Utility/PreFlightChecker.hpp
@@ -124,12 +124,6 @@ public:
 	 */
 	static bool checkInnov2DFailed(const Vector2f &innov, const Vector2f &innov_lpf, float test_limit);
 
-	/*
-	 * Packs the boolean flags into a bit field
-	 */
-	static uint8_t prefltFailBoolToBitMask(bool heading_failed, bool horiz_vel_failed, bool vert_vel_failed,
-					       bool height_failed);
-
 	static constexpr float sq(float var) { return var * var; }
 
 private:
diff --git a/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp b/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp
index 03ae5a942a..eda7042c36 100644
--- a/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp
+++ b/src/modules/ekf2/Utility/PreFlightCheckerTest.cpp
@@ -91,18 +91,3 @@ TEST_F(PreFlightCheckerTest, testInnov2dFailed)
 		EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 1.42));
 	}
 }
-
-TEST_F(PreFlightCheckerTest, testBitMask)
-{
-	PreFlightChecker preflt_checker;
-
-	const bool heading_failed = true;
-	const bool horiz_vel_failed = true;
-	const bool down_vel_failed = false;
-	const bool height_failed = true;
-
-	int bitmask = PreFlightChecker::prefltFailBoolToBitMask(heading_failed, horiz_vel_failed, down_vel_failed,
-			height_failed);
-
-	EXPECT_EQ(bitmask, 0b1011);
-}