diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index f261e871ca..6738ae6375 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -145,6 +145,12 @@ private:
 	uint8_t _mag_sample_count = 0;		// number of magnetometer measurements summed
 	uint32_t _mag_time_ms_last_used = 0;	// time stamp in msec of the last averaged magnetometer measurement used by the EKF
 
+	// Used to down sample barometer data
+	float _balt_data_sum;			// summed barometric altitude readings (m)
+	uint64_t _balt_time_sum_ms;		// summed barometric altitude time stamps (msec)
+	uint8_t _balt_sample_count = 0;		// number of barometric altitude measurements summed
+	uint32_t _balt_time_ms_last_used = 0;	// time stamp in msec of the last averaged barometric altitude measurement used by the EKF
+
 	int	_sensors_sub = -1;
 	int	_gps_sub = -1;
 	int	_airspeed_sub = -1;
@@ -571,9 +577,23 @@ void Ekf2::task_main()
 
 		} else {
 			if ((sensors.timestamp + sensors.baro_timestamp_relative) != _timestamp_balt_us) {
-			_timestamp_balt_us = sensors.timestamp + sensors.baro_timestamp_relative;
-			_ekf.setBaroData(_timestamp_balt_us, &sensors.baro_alt_meter);
+				_timestamp_balt_us = sensors.timestamp + sensors.baro_timestamp_relative;
 
+				// If the time last used by the EKF is less than 50msec, then accumulate the
+				// data and push the average when the 50msec is reached.
+				_balt_time_sum_ms += _timestamp_balt_us/1000;
+				_balt_sample_count++;
+				_balt_data_sum += sensors.baro_alt_meter;
+				uint64_t balt_time_ms = _balt_time_sum_ms / _balt_sample_count;
+				if (balt_time_ms - _balt_time_ms_last_used > 50) {
+					float balt_data_avg = _balt_data_sum / (float)_balt_sample_count;
+					_ekf.setBaroData(1000*(uint64_t)balt_time_ms, &balt_data_avg);
+					_balt_time_ms_last_used = balt_time_ms;
+					_balt_time_sum_ms = 0;
+					_balt_sample_count = 0;
+					_balt_data_sum = 0.0f;
+
+				}
 			}
 		}