diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index f3590e3d4ced..a40289f7b340 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2408,9 +2408,9 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
 		if (fabsf(_param_ekf2_gps_yaw_off.get()) > 0.f) {
 			if (!PX4_ISFINITE(vehicle_gps_position.heading_offset) && PX4_ISFINITE(vehicle_gps_position.heading)) {
 				// Apply offset
-				float raw_yaw_offset = matrix::wrap_pi(math::radians(_param_ekf2_gps_yaw_off.get()));
-				vehicle_gps_position.heading_offset = raw_yaw_offset;
-				vehicle_gps_position.heading = matrix::wrap_pi(vehicle_gps_position.heading - raw_yaw_offset);
+				float yaw_offset = matrix::wrap_pi(math::radians(_param_ekf2_gps_yaw_off.get()));
+				vehicle_gps_position.heading_offset = yaw_offset;
+				vehicle_gps_position.heading = matrix::wrap_pi(vehicle_gps_position.heading - yaw_offset);
 			}
 		}