diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index df8773b169..53a7c678f6 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -897,7 +897,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		}
 
 		float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f;
-		dt = fmaxf(fminf(0.02, dt), 0.002);		// constrain dt from 2 to 20 ms
+		dt = fmaxf(fminf(0.02, dt), 0.0002);		// constrain dt from 0.2 to 20 ms
 		t_prev = t;
 
 		/* increase EPH/EPV on each step */