diff --git a/gtsam/navigation/PreintegratedRotation.h b/gtsam/navigation/PreintegratedRotation.h
index 544c8b79b..aee6b6738 100644
--- a/gtsam/navigation/PreintegratedRotation.h
+++ b/gtsam/navigation/PreintegratedRotation.h
@@ -96,6 +96,7 @@ public:
   }
 
   /// Get so<3> version of bias corrected rotation, with optional Jacobian
+  // Implements: log( deltaRij_ * expmap(delRdelBiasOmega_ * biasOmegaIncr) )
   Vector3 biascorrectedThetaRij(const Vector3& biasOmegaIncr,
       OptionalJacobian<3, 3> H = boost::none) const {
     // First, we correct deltaRij using the biasOmegaIncr, rotated
diff --git a/gtsam/navigation/PreintegrationBase.h b/gtsam/navigation/PreintegrationBase.h
index f007333e3..a38743c0e 100644
--- a/gtsam/navigation/PreintegrationBase.h
+++ b/gtsam/navigation/PreintegrationBase.h
@@ -266,8 +266,8 @@ public:
     // Get Get so<3> version of bias corrected rotation
     // If H5 is asked for, we will need the Jacobian, which we store in H5
     // H5 will then be corrected below to take into account the Coriolis effect
-    Matrix3 H5temp;
-    Vector3 biascorrectedOmega = biascorrectedThetaRij(biasOmegaIncr, H5 ? &H5temp : 0);
+    Matrix3 D_cThetaRij_biasOmegaIncr;
+    Vector3 biascorrectedOmega = biascorrectedThetaRij(biasOmegaIncr, H5 ? &D_cThetaRij_biasOmegaIncr : 0);
 
     // Coriolis term, note inconsistent with AHRS, where coriolisHat is *after* integration
     const Matrix3 Ritranspose_omegaCoriolisHat = Ri.transpose() * skewSymmetric(omegaCoriolis);
@@ -351,7 +351,7 @@ public:
     }
     if(H5) {
       // H5 by this point already contains 3*3 biascorrectedThetaRij derivative
-      const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * H5temp;
+      const Matrix3 JbiasOmega = D_cDeltaRij_cOmega * D_cThetaRij_biasOmegaIncr;
       H5->resize(9,6);
       (*H5) <<
           // dfP/dBias