diff --git a/EKF/common.h b/EKF/common.h
index 8bca806a66..6e86ad8d4d 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -177,7 +177,6 @@ struct dragSample {
 
 // bad accelerometer detection and mitigation
 #define BADACC_PROBATION	10E6	// Number of usec that accel data declared bad must continuously pass checks to be declared good
-#define BADACC_HGT_RESET	1E6	// Number of usec that accel data must continuously fail checks to trigger a height reset
 #define BADACC_BIAS_PNOISE	4.9f	// The delta velocity process noise is set to this when accel data is declared bad (m/s**2)
 
 struct parameters {
@@ -296,6 +295,10 @@ struct parameters {
 	float bcoef_x{25.0f};			// ballistic coefficient along the X-axis (kg/m**2)
 	float bcoef_y{25.0f};			// ballistic coefficient along the Y-axis (kg/m**2)
 
+	// control of accel error detection and mitigation (IMU clipping)
+	float vert_innov_test_lim{4.5f};	// Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
+	int bad_acc_reset_delay_us{500000};	// Continuous time that the vertical position and velocity innovation test must fail before the states are reset (usec)
+
 };
 
 struct stateSample {
diff --git a/EKF/control.cpp b/EKF/control.cpp
index b394348a60..db1dfcc5c9 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -458,13 +458,14 @@ void Ekf::controlHeightSensorTimeouts()
 	 * source failed if we have switched.
 	*/
 
-	// check for inertial sensing errors as evidenced by the vertical innovations having the same sign and not stale
+	// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical innovations being positive and not stale.
+	// Clipping causes the average accel reading to move towards zero which makes the INS think it is falling and produces positive vertical innovations
+	float var_product_lim = sq(_params.vert_innov_test_lim) * sq(_params.vert_innov_test_lim);
 	bool bad_vert_accel = (_control_status.flags.baro_hgt && // we can only run this check if vertical position and velocity observations are indepedant
-			(_vel_pos_innov[5] * _vel_pos_innov[2] > 0.0f) && // vertical position and velocity sensors are in agreement
+			(sq(_vel_pos_innov[5] * _vel_pos_innov[2]) > var_product_lim * (_vel_pos_innov_var[5] * _vel_pos_innov_var[2])) && // vertical position and velocity sensors are in agreement that we have a significant error
+			(_vel_pos_innov[2] > 0.0f) && // positive innovation indicates that the inertial nav thinks it is falling
 			((_imu_sample_delayed.time_us - _baro_sample_delayed.time_us) < 2 * BARO_MAX_INTERVAL) && // vertical position data is fresh
-			((_imu_sample_delayed.time_us - _gps_sample_delayed.time_us) < 2 * GPS_MAX_INTERVAL) &&  // vertical velocity data is freshs
-			_vel_pos_test_ratio[2] > 1.0f && // vertical velocty innovations have failed innovation consistency checks
-			_vel_pos_test_ratio[5] > 1.0f); // vertical position innovations have failed innovation consistency checks
+			((_imu_sample_delayed.time_us - _gps_sample_delayed.time_us) < 2 * GPS_MAX_INTERVAL)); // vertical velocity data is fresh
 
 	// record time of last bad vert accel
 	if (bad_vert_accel) {
@@ -482,7 +483,7 @@ void Ekf::controlHeightSensorTimeouts()
 	}
 
 	// check if height is continuously failing becasue of accel errors
-	bool continuous_bad_accel_hgt = ((_time_last_imu - _time_good_vert_accel) > BADACC_HGT_RESET);
+	bool continuous_bad_accel_hgt = ((_time_last_imu - _time_good_vert_accel) > (unsigned)_params.bad_acc_reset_delay_us);
 
 	// check if height has been inertial deadreckoning for too long
 	bool hgt_fusion_timeout = ((_time_last_imu - _time_last_hgt_fuse) > 5e6);