diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index 26bb8d2cf0..e689235da8 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -69,7 +69,7 @@ void Ekf::controlGpsFusion()
 			if (isYawEmergencyEstimateAvailable()
 			    && _control_status.flags.yaw_align
 			    && isTimedOut(_ekfgsf_yaw_reset_time, 1'000'000)
-			    && isTimedOut(_time_last_heading_fuse, (uint64_t)1'000'000)) {
+			    && isTimedOut(_time_last_heading_fuse, (uint64_t)500'000)) {
 
 				float innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yawEstimator.getYaw());
 				float obs_var = _yawEstimator.getYawVar();