diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index e451fc2872..22b50955c5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -632,7 +632,7 @@ void NavEKF3_core::runYawEstimatorCorrection()
         if (gpsDataToFuse) {
             Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y);
             float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise);
-            yawEstimator->pushVelData(gpsVelNE, gpsVelAcc);
+            yawEstimator->fuseVelData(gpsVelNE, gpsVelAcc);
         }
 
         // action an external reset request