diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 89e6d3948c..28eab49f22 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -2266,7 +2266,7 @@ int AttPosEKF::CheckAndBound()
 
     // Reset the filter if gyro offsets are excessive
     if (fabs(states[10]) > 1.0f || fabsf(states[11]) > 1.0f || fabsf(states[12]) > 1.0f) {
-        
+        FillErrorReport(&last_ekf_error);
         InitializeDynamic(velNED, magDeclination);
 
         // that's all we can do here, return