diff --git a/src/lib/ecl b/src/lib/ecl
index 9dee57f9ca..d0b4f1e225 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit 9dee57f9ca5b9665fb9fba051bb20a6a010311c0
+Subproject commit d0b4f1e225a5252d543cbc419d642277df535ee7
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 3a34a9bb0e..b8ac0d9edf 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
  * @unit ms
  * @decimal 1
  */
-PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
+PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110);
 
 /**
  * Optical flow measurement delay relative to IMU measurements
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5);
  * @unit ms
  * @decimal 1
  */
-PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
+PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 100);
 
 /**
  * Vision Position Estimator delay relative to IMU measurements