diff --git a/EKF/common.h b/EKF/common.h
index 45d9b485f2..bb3b8953b8 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -354,7 +354,7 @@ struct parameters {
 	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
+	float vert_innov_test_lim{3.0f};	///< 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)
 
 	// auxiliary velocity fusion
diff --git a/EKF/control.cpp b/EKF/control.cpp
index 9b8651cf87..01b0c4a995 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -893,8 +893,8 @@ void Ekf::checkVerticalAccelerationHealth()
 {
 	// 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
+	// Clipping usually causes the average accel reading to move towards zero which makes the INS
+	// think it is falling and produces positive vertical innovations.
 	// Don't use stale innovation data.
 	bool is_inertial_nav_falling = false;
 	bool are_vertical_pos_and_vel_independant = false;
@@ -905,13 +905,8 @@ void Ekf::checkVerticalAccelerationHealth()
 			const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;
 			const bool using_ev_for_both = _control_status.flags.ev_hgt && _control_status.flags.ev_vel;
 			are_vertical_pos_and_vel_independant = !(using_gps_for_both || using_ev_for_both);
-			if (are_vertical_pos_and_vel_independant) {
-				if (_vert_pos_innov_ratio > 0.0f && _vert_vel_innov_ratio > 0.0f) {
-					is_inertial_nav_falling = _vert_pos_innov_ratio * _vert_vel_innov_ratio > 0.5f * sq(_params.vert_innov_test_lim);
-				}
-			} else {
-				is_inertial_nav_falling = _vert_vel_innov_ratio > _params.vert_innov_test_lim || _vert_pos_innov_ratio > _params.vert_innov_test_lim;
-			}
+			is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > 0.0f;
+			is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0.0f;
 		} else {
 			// only height sensing available
 			is_inertial_nav_falling = _vert_pos_innov_ratio > _params.vert_innov_test_lim;
diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 25c30bbe0a..1e0111611e 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -152,7 +152,7 @@ void Ekf::predictCovariance()
 
 		// When on ground, only consider an accel bias observable if aligned with the gravity vector
 		const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
-		const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable;
+		const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable || _imu_sample_delayed.delta_vel_clipping[index];
 
 		if (do_inhibit_axis) {
 			// store the bias state variances to be reinstated later