diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp
index 74f4a3b5a886..f113ee8f8f1a 100644
--- a/src/modules/ekf2/EKF/ekf.cpp
+++ b/src/modules/ekf2/EKF/ekf.cpp
@@ -336,11 +336,11 @@ bool Ekf::resetGlobalPosToExternalObservation(const double latitude, const doubl
 
 		const bool innov_rejected = (test_ratio > 1.f);
 
-		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected) {
+		if (!_control_status.flags.in_air || (eph > 0.f && eph < 1.f) || innov_rejected
+		    || isHorizontalPositionAidingActive()) {
 			// When on ground or accuracy chosen to be very low, we hard reset position
 			// this allows the user to still send hard resets at any time
-			// Also reset when another position source is active as it it would otherwise have almost no
-			// visible effect to the position estimate.
+			// Also hard reset when a position aiding source is active
 			ECL_INFO("reset position to external observation");
 			_information_events.flags.reset_pos_to_ext_obs = true;