diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index af2a4471a5..f1bb9c7f15 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -620,7 +620,7 @@ void NavEKF3_core::runYawEstimator()
         }
 
         // action an external reset request
-        if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms < (EKFGSF_yaw_reset_request_ms + YAW_RESET_TO_GSF_TIMEOUT_MS)) {
+        if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms - EKFGSF_yaw_reset_request_ms < YAW_RESET_TO_GSF_TIMEOUT_MS) {
             EKFGSF_resetMainFilterYaw();
         }
     }