diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
index ba22669f93..3c81dfc471 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
@@ -346,7 +346,7 @@ void NavEKF2_core::FuseMagnetometer()
         }
 
         // scale magnetometer observation error with total angular rate to allow for timing errors
-        R_MAG = sq(constrain_float(frontend->_magNoise, 0.01f, 0.5f)) + sq(frontend->magVarRateScale*imuDataDelayed.delAng.length() / imuDataDelayed.delAngDT);
+        R_MAG = sq(constrain_float(frontend->_magNoise, 0.01f, 0.5f)) + sq(frontend->magVarRateScale*delAngCorrected.length() / imuDataDelayed.delAngDT);
 
         // calculate common expressions used to calculate observation jacobians an innovation variance for each component
         SH_MAG[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3);
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index fb407cad12..826208e5ee 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -282,12 +282,16 @@ void NavEKF2_core::readIMUData()
     // If 10msec has elapsed, and the frontend has allowed us to start a new predict cycle, then store the accumulated IMU data
     // to be used by the state prediction, ignoring the frontend permission if more than 20msec has lapsed
     if ((dtIMUavg*(float)framesSincePredict >= 0.01f && startPredictEnabled) || (dtIMUavg*(float)framesSincePredict >= 0.02f)) {
+
         // convert the accumulated quaternion to an equivalent delta angle
         imuQuatDownSampleNew.to_axis_angle(imuDataDownSampledNew.delAng);
+
         // Time stamp the data
         imuDataDownSampledNew.time_ms = imuSampleTime_ms;
+
         // Write data to the FIFO IMU buffer
         storedIMU.push_youngest_element(imuDataDownSampledNew);
+
         // zero the accumulated IMU data and quaternion
         imuDataDownSampledNew.delAng.zero();
         imuDataDownSampledNew.delVel.zero();
@@ -295,18 +299,28 @@ void NavEKF2_core::readIMUData()
         imuDataDownSampledNew.delVelDT = 0.0f;
         imuQuatDownSampleNew[0] = 1.0f;
         imuQuatDownSampleNew[3] = imuQuatDownSampleNew[2] = imuQuatDownSampleNew[1] = 0.0f;
+
         // reset the counter used to let the frontend know how many frames have elapsed since we started a new update cycle
         framesSincePredict = 0;
+
         // set the flag to let the filter know it has new IMU data nad needs to run
         runUpdates = true;
+
         // extract the oldest available data from the FIFO buffer
         imuDataDelayed = storedIMU.pop_oldest_element();
+
+        // protect against delta time going to zero
+        // TODO - check if calculations can tolerate 0
         float minDT = 0.1f*dtEkfAvg;
         imuDataDelayed.delAngDT = MAX(imuDataDelayed.delAngDT,minDT);
         imuDataDelayed.delVelDT = MAX(imuDataDelayed.delVelDT,minDT);
+
         // correct the extracted IMU data for sensor errors
-        correctDeltaAngle(imuDataDelayed.delAng, imuDataDelayed.delAngDT);
-        correctDeltaVelocity(imuDataDelayed.delVel, imuDataDelayed.delVelDT);
+        delAngCorrected = imuDataDelayed.delAng;
+        delVelCorrected = imuDataDelayed.delVel;
+        correctDeltaAngle(delAngCorrected, imuDataDelayed.delAngDT);
+        correctDeltaVelocity(delVelCorrected, imuDataDelayed.delVelDT);
+
     } else {
         // we don't have new IMU data in the buffer so don't run filter updates on this time step
         runUpdates = false;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index fcb0ea7373..a0faa4d6db 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -493,13 +493,11 @@ void NavEKF2_core::correctDeltaVelocity(Vector3f &delVel, float delVelDT)
 */
 void NavEKF2_core::UpdateStrapdownEquationsNED()
 {
-    // apply correction for earth's rotation rate
-    // % * - and + operators have been overloaded
-    imuDataDelayed.delAng -= prevTnb * earthRateNED*imuDataDelayed.delAngDT;
-
     // update the quaternion states by rotating from the previous attitude through
     // the delta angle rotation quaternion and normalise
-    stateStruct.quat.rotate(imuDataDelayed.delAng);
+    // apply correction for earth's rotation rate
+    // % * - and + operators have been overloaded
+    stateStruct.quat.rotate(delAngCorrected - prevTnb * earthRateNED*imuDataDelayed.delAngDT);
     stateStruct.quat.normalize();
 
     // transform body delta velocities to delta velocities in the nav frame
@@ -507,7 +505,7 @@ void NavEKF2_core::UpdateStrapdownEquationsNED()
     // have been rotated into that frame
     // * and + operators have been overloaded
     Vector3f delVelNav;  // delta velocity vector in earth axes
-    delVelNav  = prevTnb.mul_transpose(imuDataDelayed.delVel);
+    delVelNav  = prevTnb.mul_transpose(delVelCorrected);
     delVelNav.z += GRAVITY_MSS*imuDataDelayed.delVelDT;
 
     // calculate the body to nav cosine matrix
@@ -542,7 +540,7 @@ void NavEKF2_core::UpdateStrapdownEquationsNED()
     stateStruct.position += (stateStruct.velocity + lastVelocity) * (imuDataDelayed.delVelDT*0.5f);
 
     // accumulate the bias delta angle and time since last reset by an OF measurement arrival
-    delAngBodyOF += imuDataDelayed.delAng - stateStruct.gyro_bias;
+    delAngBodyOF += delAngCorrected;
     delTimeOF += imuDataDelayed.delAngDT;
 
     // limit states to protect against divergence
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 3480e00913..a22bf1e3df 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -787,6 +787,8 @@ private:
     bool startPredictEnabled;       // boolean true when the frontend has given permission to start a new state prediciton cycele
     uint8_t localFilterTimeStep_ms; // average number of msec between filter updates
     float posDownObsNoise;          // observation noise variance on the vertical position used by the state and covariance update step (m^2)
+    Vector3f delAngCorrected;       // corrected IMU delta angle vector at the EKF time horizon (rad)
+    Vector3f delVelCorrected;       // corrected IMU delta velocity vector at the EKF time horizon (m/s)
 
     // variables used to calculate a vertical velocity that is kinematically consistent with the verical position
     float posDownDerivative;        // Rate of chage of vertical position (dPosD/dt) in m/s. This is the first time derivative of PosD.