diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index c8c2be9c47..8c0d3db9a0 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -264,7 +264,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
 	// by baro data by taking the average of incoming sample
 	_baro_sample_count++;
 	_baro_alt_sum += baro_alt_meter;
-	_baro_timestamp_sum += time_usec;
+	_baro_timestamp_sum += time_usec / 1000; // Dividing by 1000 to avoid overflow
 
 	// limit data rate to prevent data being lost
 	if ((time_usec - _time_last_baro) > _min_obs_interval_us) {
@@ -275,7 +275,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float baro_alt_meter)
 		baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_alt_avg);
 
 		// Use the time in the middle of the downsampling interval for the sample
-		baro_sample_new.time_us = _baro_timestamp_sum / _baro_sample_count;
+		baro_sample_new.time_us = 1000 * (_baro_timestamp_sum / _baro_sample_count);
 		baro_sample_new.time_us -= _params.baro_delay_ms * 1000;
 		baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
 		baro_sample_new.time_us = math::max(baro_sample_new.time_us, _imu_sample_delayed.time_us);