diff --git a/test/test_EKF_gps_yaw.cpp b/test/test_EKF_gps_yaw.cpp
index f694654b11..416d8ba4e9 100644
--- a/test/test_EKF_gps_yaw.cpp
+++ b/test/test_EKF_gps_yaw.cpp
@@ -105,7 +105,7 @@ TEST_F(EkfGpsHeadingTest, fusionStartWithReset)
 	_sensor_simulator._gps.setYaw(gps_heading);
 	_ekf_wrapper.enableGpsHeadingFusion();
 	const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
-	_sensor_simulator.runSeconds(0.2);
+	_sensor_simulator.runSeconds(0.4);
 
 	// THEN: GPS heading fusion should have started;
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
@@ -203,7 +203,7 @@ TEST_F(EkfGpsHeadingTest, fallBackToMag)
 	// BUT WHEN: the GPS yaw is suddenly invalid
 	gps_heading = NAN;
 	_sensor_simulator._gps.setYaw(gps_heading);
-	_sensor_simulator.runSeconds(6);
+	_sensor_simulator.runSeconds(7.5);
 
 	// THEN: after a few seconds, the fusion should stop and
 	// the estimator should fall back to mag fusion