diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index cc55440909..3cd981cc6a 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -388,7 +388,7 @@ void Ekf::controlOpticalFlowFusion()
 			// compensate for body motion to give a LOS rate
 			_flow_compensated_XY_rad = _flow_sample_delayed.flow_xy_rad - _flow_sample_delayed.gyro_xyz.xy();
 
-		} else if (!_control_status.flags.in_air && is_body_rate_comp_available) {
+		} else if (!_control_status.flags.in_air) {
 
 			if (!is_delta_time_good) {
 				// handle special case of SITL and PX4Flow where dt is forced to
diff --git a/src/modules/ekf2/EKF/optflow_fusion.cpp b/src/modules/ekf2/EKF/optflow_fusion.cpp
index f2845bba12..d158f90523 100644
--- a/src/modules/ekf2/EKF/optflow_fusion.cpp
+++ b/src/modules/ekf2/EKF/optflow_fusion.cpp
@@ -340,6 +340,7 @@ bool Ekf::calcOptFlowBodyRateComp()
 		return false;
 	}
 
+	bool is_body_rate_comp_available = false;
 	const bool use_flow_sensor_gyro = PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2));
 
 	if (use_flow_sensor_gyro) {
@@ -356,19 +357,26 @@ bool Ekf::calcOptFlowBodyRateComp()
 
 			// calculate the bias estimate using  a combined LPF and spike filter
 			_flow_gyro_bias = _flow_gyro_bias * 0.99f + matrix::constrain(measured_body_rate - reference_body_rate, -0.1f, 0.1f) * 0.01f;
+
+			is_body_rate_comp_available = true;
 		}
 
 	} else {
 		// Use the EKF gyro data if optical flow sensor gyro data is not available
 		// for clarification of the sign see definition of flowSample and imuSample in common.h
-		_flow_sample_delayed.gyro_xyz = -_imu_del_ang_of;
-		_flow_gyro_bias.zero();
+		if ((_delta_time_of > FLT_EPSILON)
+		    && (_flow_sample_delayed.dt > FLT_EPSILON)) {
+			_flow_sample_delayed.gyro_xyz = -_imu_del_ang_of / _delta_time_of * _flow_sample_delayed.dt;
+			_flow_gyro_bias.zero();
+
+			is_body_rate_comp_available = true;
+		}
 	}
 
 	// reset the accumulators
 	_imu_del_ang_of.setZero();
 	_delta_time_of = 0.0f;
-	return true;
+	return is_body_rate_comp_available;
 }
 
 // calculate the measurement variance for the optical flow sensor (rad/sec)^2