diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 81888fa2b0..21fb9730e5 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -733,9 +733,9 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
 
 			resetVerticalPositionTo(_gps_alt_ref - current_alt);
 
-			_baro_hgt_offset -= _state_reset_status.posD_change;
+			_baro_hgt_offset += _state_reset_status.posD_change;
 
-			_rng_hgt_offset -= _state_reset_status.posD_change;
+			_rng_hgt_offset += _state_reset_status.posD_change;
 			_ev_hgt_offset -= _state_reset_status.posD_change;
 		}
 
diff --git a/src/modules/ekf2/test/test_EKF_basics.cpp b/src/modules/ekf2/test/test_EKF_basics.cpp
index 5167eb9de7..d7b00f1b8d 100644
--- a/src/modules/ekf2/test/test_EKF_basics.cpp
+++ b/src/modules/ekf2/test/test_EKF_basics.cpp
@@ -249,12 +249,15 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	float vpos = 0.f;
 	float hvel = 0.f;
 	float vvel = 0.f;
+	float baro_vpos = 0.f;
 
 	// After the change of origin, the pos and vel innovations should stay small
 	_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos);
+	_ekf->getBaroHgtInnovRatio(baro_vpos);
 
 	EXPECT_NEAR(hpos, 0.f, 0.05f);
 	EXPECT_NEAR(vpos, 0.f, 0.05f);
+	EXPECT_NEAR(baro_vpos, 0.f, 0.05f);
 
 	EXPECT_NEAR(hvel, 0.f, 0.02f);
 	EXPECT_NEAR(vvel, 0.f, 0.02f);