diff --git a/src/modules/ekf2/EKF/optflow_fusion.cpp b/src/modules/ekf2/EKF/optflow_fusion.cpp
index a061e2c7f1..3b9b3fba15 100644
--- a/src/modules/ekf2/EKF/optflow_fusion.cpp
+++ b/src/modules/ekf2/EKF/optflow_fusion.cpp
@@ -77,6 +77,21 @@ void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src)
 	const float R_LOS = calcOptFlowMeasVar(_flow_sample_delayed);
 	aid_src.observation_variance[0] = R_LOS;
 	aid_src.observation_variance[1] = R_LOS;
+
+	const Vector24f state_vector = getStateAtFusionHorizonAsVector();
+
+	Vector2f innov_var;
+	Vector24f H;
+	sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var, &H);
+	innov_var.copyTo(_aid_src_optical_flow.innovation_variance);
+
+	// run the innovation consistency check and record result
+	setEstimatorAidStatusTestRatio(_aid_src_optical_flow, math::max(_params.flow_innov_gate, 1.f));
+
+	_innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f);
+	_innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f);
+
+	// PX4_WARN("updateOptFlow: %f,%f   %f,%f\n", (double)aid_src.innovation[0], (double)aid_src.innovation[1], (double)aid_src.innovation_variance[0], (double)aid_src.innovation_variance[1]);
 }
 
 void Ekf::fuseOptFlow()
diff --git a/src/modules/ekf2/EKF/optical_flow_control.cpp b/src/modules/ekf2/EKF/optical_flow_control.cpp
index ae77e228cf..a4f93ac38d 100644
--- a/src/modules/ekf2/EKF/optical_flow_control.cpp
+++ b/src/modules/ekf2/EKF/optical_flow_control.cpp
@@ -59,7 +59,8 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 
 	// Accumulate autopilot gyro data across the same time interval as the flow sensor
 	const Vector3f delta_angle(imu_delayed.delta_ang - (getGyroBias() * imu_delayed.delta_ang_dt));
-	if (_delta_time_of < 0.1f) {
+	// increase limit from 0.1f to 0.5f
+	if (_delta_time_of < 0.5f) {
 		_imu_del_ang_of += delta_angle;
 		_delta_time_of += imu_delayed.delta_ang_dt;
 
@@ -75,7 +76,8 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 		const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);
 
 		const float delta_time_min = fmaxf(0.7f * _delta_time_of, 0.001f);
-		const float delta_time_max = fminf(1.3f * _delta_time_of, 0.2f);
+		// increase hard max to 0.5f from 0.2f
+		const float delta_time_max = fminf(1.3f * _delta_time_of, 0.5f);
 		bool is_delta_time_good = _flow_sample_delayed.dt >= delta_time_min && _flow_sample_delayed.dt <= delta_time_max;
 
 		if (!is_delta_time_good && (_flow_sample_delayed.dt > FLT_EPSILON)) {
@@ -204,10 +206,15 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 			if (_time_delayed_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
 				// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
 				// but use a relaxed time criteria to enable it to coast through bad range finder data
-				if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
+
+				// give much larger timeout (10x) for hagl fuse
+				if (isRecent(_time_last_hagl_fuse, (uint64_t)100e6)) {
 					fuseOptFlow();
 					_last_known_pos.xy() = _state.pos.xy();
 				}
+				// else {
+				// 	PX4_WARN("terrain estimator sad %ld", _time_last_hagl_fuse);
+				// }
 
 				_flow_data_ready = false;
 			}