diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
index dbf3d05989..927a83e24f 100644
--- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -239,13 +239,13 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
 						    && PX4_ISFINITE(_wmm_declination_rad)
 						   ) {
 							// using declination from the world magnetic model
-							fuseDeclination(_wmm_declination_rad, 0.5f, update_all_states);
+							fuseDeclination(_wmm_declination_rad, 0.5f, update_all_states, update_tilt);
 
 						} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
 							   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
 							  ) {
 							// using previously saved declination
-							fuseDeclination(math::radians(_params.mag_declination_deg), R_DECL, update_all_states);
+							fuseDeclination(math::radians(_params.mag_declination_deg), R_DECL, update_all_states, update_tilt);
 
 						} else {
 							// if there is no aiding coming from an inertial frame we need to fuse some declination
diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp
index a9d07853a1..88fa425939 100644
--- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp
@@ -140,7 +140,7 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 	return true;
 }
 
-bool Ekf::fuseDeclination(float decl_measurement_rad, float R, bool update_all_states)
+bool Ekf::fuseDeclination(float decl_measurement_rad, float R, bool update_all_states, bool update_tilt)
 {
 	VectorState H;
 	float decl_pred;
@@ -160,7 +160,13 @@ bool Ekf::fuseDeclination(float decl_measurement_rad, float R, bool update_all_s
 	// Calculate the Kalman gains
 	VectorState Kfusion = P * H / innovation_variance;
 
-	if (!update_all_states) {
+	if (update_all_states) {
+		if (!update_tilt) {
+			Kfusion(State::quat_nominal.idx + 0) = 0.f;
+			Kfusion(State::quat_nominal.idx + 1) = 0.f;
+		}
+
+	} else {
 		// zero non-mag Kalman gains if not updating all states
 
 		// copy mag_I and mag_B Kalman gains
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index e0dba0eddc..1dad06d304 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -668,7 +668,8 @@ private:
 
 	// fuse magnetometer declination measurement
 	//  R: declination observation variance (rad**2)
-	bool fuseDeclination(const float decl_measurement_rad, const float R, bool update_all_states = false);
+	bool fuseDeclination(const float decl_measurement_rad, const float R, bool update_all_states = false,
+			     bool update_tilt = false);
 
 #endif // CONFIG_EKF2_MAGNETOMETER