diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 2cd52e4d04..febd87ed46 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -711,6 +711,9 @@ void Ekf2::task_main()
 				ctrl_state.roll_rate = _lp_roll_rate.apply(gyro_rad[0]);
 				ctrl_state.pitch_rate = _lp_pitch_rate.apply(gyro_rad[1]);
 				ctrl_state.yaw_rate = _lp_yaw_rate.apply(gyro_rad[2]);
+				ctrl_state.roll_rate_bias = gyro_bias[0];
+				ctrl_state.pitch_rate_bias = gyro_bias[1];
+				ctrl_state.yaw_rate_bias = gyro_bias[2];
 
 				// Velocity in body frame
 				Vector3f v_n(velocity);