diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index 5ee6ee34e5..2aaa41ebc6 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -261,7 +261,8 @@ bool Ekf::initialiseTilt()
 void Ekf::predictState()
 {
 	// apply imu bias corrections
-	Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
+	const Vector3f delta_ang_bias_scaled = (_state.delta_ang_bias / _dt_ekf_avg) * _imu_sample_delayed.delta_ang_dt;
+	Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - delta_ang_bias_scaled;
 
 	// subtract component of angular rate due to earth rotation
 	corrected_delta_ang -= _R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
@@ -273,7 +274,8 @@ void Ekf::predictState()
 	_R_to_earth = Dcmf(_state.quat_nominal);
 
 	// Calculate an earth frame delta velocity
-	const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
+	const Vector3f delta_vel_bias_scaled = (_state.delta_vel_bias / _dt_ekf_avg) * _imu_sample_delayed.delta_vel_dt;
+	const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - delta_vel_bias_scaled;
 	const Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;
 
 	// calculate a filtered horizontal acceleration with a 1 sec time constant
@@ -326,10 +328,10 @@ void Ekf::calculateOutputStates(const imuSample &imu)
 	// Use full rate IMU data at the current time horizon
 
 	// correct delta angles for bias offsets
-	const float dt_scale_correction = _dt_imu_avg / _dt_ekf_avg;
+	const Vector3f delta_ang_bias_scaled = (_state.delta_ang_bias / _dt_ekf_avg) * imu.delta_ang_dt;
 
 	// Apply corrections to the delta angle required to track the quaternion states at the EKF fusion time horizon
-	const Vector3f delta_angle(imu.delta_ang - _state.delta_ang_bias * dt_scale_correction + _delta_angle_corr);
+	const Vector3f delta_angle(imu.delta_ang - delta_ang_bias_scaled + _delta_angle_corr);
 
 	// calculate a yaw change about the earth frame vertical
 	const float spin_del_ang_D = delta_angle.dot(Vector3f(_R_to_earth_now.row(2)));
@@ -355,7 +357,8 @@ void Ekf::calculateOutputStates(const imuSample &imu)
 	_R_to_earth_now = Dcmf(_output_new.quat_nominal);
 
 	// correct delta velocity for bias offsets
-	const Vector3f delta_vel_body{imu.delta_vel - _state.delta_vel_bias * dt_scale_correction};
+	const Vector3f delta_vel_bias_scaled = (_state.delta_vel_bias / _dt_ekf_avg) * _imu_sample_delayed.delta_vel_dt;
+	const Vector3f delta_vel_body{imu.delta_vel - delta_vel_bias_scaled};
 
 	// rotate the delta velocity to earth frame
 	Vector3f delta_vel_earth{_R_to_earth_now * delta_vel_body};
@@ -536,7 +539,9 @@ Quatf Ekf::calculate_quaternion() const
 {
 	// Correct delta angle data for bias errors using bias state estimates from the EKF and also apply
 	// corrections required to track the EKF quaternion states
-	const Vector3f delta_angle{_newest_high_rate_imu_sample.delta_ang - _state.delta_ang_bias * (_dt_imu_avg / _dt_ekf_avg) + _delta_angle_corr};
+	const Vector3f delta_ang_bias_scaled = (_state.delta_ang_bias / _dt_ekf_avg) * _newest_high_rate_imu_sample.delta_ang_dt;
+
+	const Vector3f delta_angle{_newest_high_rate_imu_sample.delta_ang - delta_ang_bias_scaled + _delta_angle_corr};
 
 	// increment the quaternions using the corrected delta angle vector
 	// the quaternions must always be normalised after modification