diff --git a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
index 4720824e32..3d767d52ca 100644
--- a/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
@@ -243,8 +243,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
 			if (!_control_status.flags.gnss_pos) {
 				ECL_INFO("reset to %s", EV_AID_SRC_NAME);
 				_information_events.flags.reset_pos_to_vision = true;
-				resetHorizontalPositionTo(measurement, measurement_var);
-				_ev_pos_b_est.reset();
+				resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var);
 
 			} else {
 				_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
@@ -287,8 +286,7 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
 					_ev_pos_b_est.setBias(-getLocalHorizontalPosition() + measurement);
 
 				} else {
-					resetHorizontalPositionTo(measurement, measurement_var);
-					_ev_pos_b_est.reset();
+					resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var);
 				}
 			}