diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index b1a4fff58d..c6ba03f256 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -166,11 +166,21 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.mag) {
 		// mag_I: add process noise
 		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);
+		float mag_I_process_noise = sq(mag_I_sig);
+
+		for (unsigned index = 0; index < State::mag_I.dof; index++) {
+			const unsigned i = State::mag_I.idx + index;
+			P(i, i) += mag_I_process_noise;
+		}
 
 		// mag_B: add process noise
 		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
+		float mag_B_process_noise = sq(mag_B_sig);
+
+		for (unsigned index = 0; index < State::mag_B.dof; index++) {
+			const unsigned i = State::mag_B.idx + index;
+			P(i, i) += mag_B_process_noise;
+		}
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
@@ -179,7 +189,12 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 	if (_control_status.flags.wind) {
 		// wind vel: add process noise
 		float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
-		P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
+		float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
+
+		for (unsigned index = 0; index < State::wind_vel.dof; index++) {
+			const unsigned i = State::wind_vel.idx + index;
+			P(i, i) += wind_vel_process_noise;
+		}
 	}
 #endif // CONFIG_EKF2_WIND