diff --git a/src/lib/wind_estimator/WindEstimator.cpp b/src/lib/wind_estimator/WindEstimator.cpp
index 7143a551ba..0ae0f5b416 100644
--- a/src/lib/wind_estimator/WindEstimator.cpp
+++ b/src/lib/wind_estimator/WindEstimator.cpp
@@ -91,7 +91,7 @@ WindEstimator::update(uint64_t time_now)
 		return;
 	}
 
-	float dt = (float)(time_now - _time_last_update) * 1e-6f;
+	const float dt = (float)(time_now - _time_last_update) * 1e-6f;
 	_time_last_update = time_now;
 
 	matrix::Matrix3f Qk;
@@ -127,7 +127,7 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 
 	const bool meas_is_rejected = check_if_meas_is_rejected(_tas_innov, _tas_innov_var, _tas_gate);
 
-	if (_tas_innov_var < 0.0f) {
+	if (_tas_innov_var < FLT_EPSILON) {
 		// re init filter in case of a negative variance, and trigger early return to not fuse measurement
 		_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi(), true_airspeed, _tas_var);
 		return;
@@ -172,7 +172,7 @@ WindEstimator::fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const
 
 	const bool meas_is_rejected = check_if_meas_is_rejected(_beta_innov, _beta_innov_var, _beta_gate);
 
-	if (_beta_innov_var < 0.0f) {
+	if (_beta_innov_var < FLT_EPSILON) {
 		// re init filter in case of a negative variance, and trigger early return to not fuse measurement
 		_initialised = initialise(velI, hor_vel_variance, matrix::Eulerf(q_att).psi());
 		return;
@@ -219,7 +219,7 @@ WindEstimator::run_sanity_checks()
 	// attain symmetry
 	for (unsigned row = 0; row < 3; row++) {
 		for (unsigned column = 0; column < row; column++) {
-			float tmp = (_P(row, column) + _P(column, row)) / 2;
+			const float tmp = (_P(row, column) + _P(column, row)) / 2.f;
 			_P(row, column) = tmp;
 			_P(column, row) = tmp;
 		}