diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 81fa27871f..04e87f6ba5 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1180,9 +1180,11 @@ void Ekf2::Run()
 				// we can only use the landing target if it has a fixed position and  a valid velocity estimate
 				if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) {
 					// velocity of vehicle relative to target has opposite sign to target relative to vehicle
-					matrix::Vector3f velocity { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel, 0.0f};
-					matrix::Vector3f variance {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel, 0.0f};
-					_ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance);
+					auxVelSample auxvel_sample;
+					auxvel_sample.vel = matrix::Vector3f{-landing_target_pose.vx_rel, -landing_target_pose.vy_rel, 0.0f};
+					auxvel_sample.velVar = matrix::Vector3f{landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel, 0.0f};
+					auxvel_sample.time_us = landing_target_pose.timestamp;
+					_ekf.setAuxVelData(auxvel_sample);
 				}
 			}
 		}