diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index cf26c748d7..38685e52ec 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -180,9 +180,8 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float *data)
 	if (time_usec > _time_last_airspeed) {
 		airspeedSample airspeed_sample_new;
 		airspeed_sample_new.airspeed = *data;
-		airspeed_sample_new.time_us -= _params.airspeed_delay_ms * 1000;
-
-		airspeed_sample_new.time_us = time_usec -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
+		airspeed_sample_new.time_us = time_usec -_params.airspeed_delay_ms * 1000;
+		airspeed_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
 		_time_last_airspeed = time_usec;
 
 		_airspeed_buffer.push(airspeed_sample_new);