diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
index a926ea5ea2..5321912128 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
@@ -195,7 +195,7 @@ void NavEKF2_core::SelectTasFusion()
 {
     // Check if the magnetometer has been fused on that time step and the filter is running at faster than 200 Hz
     // If so, don't fuse measurements on this time step to reduce frame over-runs
-    // Only allow one time slip to prevent high rate magnetometer data preventing fusion of other measurements
+    // Only allow one time slip to prevent high rate magnetometer data locking out fusion of other measurements
     if (magFusePerformed && dtIMUavg < 0.005f && !airSpdFusionDelayed) {
         airSpdFusionDelayed = true;
         return;
@@ -212,13 +212,9 @@ void NavEKF2_core::SelectTasFusion()
     }
 
     // if the filter is initialised, wind states are not inhibited and we have data to fuse, then perform TAS fusion
-    tasDataWaiting = (statesInitialised && !inhibitWindStates && newDataTas);
-    if (tasDataWaiting)
-    {
+    if (tasDataToFuse && statesInitialised && !inhibitWindStates) {
         FuseAirspeed();
         prevTasStep_ms = imuSampleTime_ms;
-        tasDataWaiting = false;
-        newDataTas = false;
     }
 }
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 547756bd7a..4245c5b8ca 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -544,6 +544,7 @@ void NavEKF2_core::calcFiltBaroOffset()
     // Apply a first order LPF with spike protection
     baroHgtOffset += 0.1f * constrain_float(baroDataDelayed.hgt + stateStruct.position.z - baroHgtOffset, -5.0f, 5.0f);
 }
+
 /********************************************************
 *                Air Speed Measurements                 *
 ********************************************************/
@@ -561,14 +562,15 @@ void NavEKF2_core::readAirSpdData()
         tasDataNew.tas = aspeed->get_airspeed() * aspeed->get_EAS2TAS();
         timeTasReceived_ms = aspeed->last_update_ms();
         tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;
+
         // Correct for the average intersampling delay due to the filter update rate
         tasDataNew.time_ms -= localFilterTimeStep_ms/2;
-        newDataTas = true;
+
+        // Save data into the buffer to be fused when the fusion time horizon catches up with it
         storedTAS.push(tasDataNew);
-        storedTAS.recall(tasDataDelayed,imuDataDelayed.time_ms);
-    } else {
-        newDataTas = false;
     }
+    // Check the buffer for measurements that have been overtaken by the fusion time horizon and need to be fused
+    tasDataToFuse = storedTAS.recall(tasDataDelayed,imuDataDelayed.time_ms);
 }
 
 #endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 2ff2252c41..ea23c4d6c7 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -679,8 +679,7 @@ private:
     Vector3f velDotNED;             // rate of change of velocity in NED frame
     Vector3f velDotNEDfilt;         // low pass filtered velDotNED
     uint32_t imuSampleTime_ms;      // time that the last IMU value was taken
-    bool newDataTas;                // true when new airspeed data has arrived
-    bool tasDataWaiting;            // true when new airspeed data is waiting to be fused
+    bool tasDataToFuse;             // true when new airspeed data is waiting to be fused
     uint32_t lastBaroReceived_ms;   // time last time we received baro height data
     uint16_t hgtRetryTime_ms;       // time allowed without use of height measurements before a height timeout is declared
     uint32_t lastVelPassTime_ms;    // time stamp when GPS velocity measurement last passed innovation consistency check (msec)