diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
index 7f767d9963..9f5396bb74 100644
--- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
@@ -1,5 +1,5 @@
 Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
-10000,1,-0.0094,-0.01,-3.2e-06,0.00023,7.3e-05,-0.011,7.1e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00018,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+10000,1,-0.0094,-0.01,-3.2e-06,0.00023,7.3e-05,-0.011,7.2e-06,2.2e-06,-0.00045,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00018,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 90000,1,-0.0094,-0.011,6.9e-05,-0.00047,0.0026,-0.026,-1.6e-05,0.00011,-0.0023,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00046,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 190000,1,-0.0094,-0.011,2.8e-05,6.9e-05,0.004,-0.041,-5.9e-06,0.00043,-0.0044,-3e-11,-2.7e-12,5.9e-13,0,0,-2e-09,0,0,0,0,0,0,0,0,0.011,0.011,0.00093,25,25,10,1e+02,1e+02,1,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 290000,1,-0.0094,-0.011,6.3e-05,0.001,0.0064,-0.053,3.8e-05,0.00036,-0.007,9.1e-10,1e-10,-2.8e-11,0,0,-4.8e-07,0,0,0,0,0,0,0,0,0.012,0.011,0.00077,25,25,9.6,0.37,0.37,0.41,0.01,0.01,0.0052,0.04,0.04,0.04,0,0,0,0,0,0,0,0
@@ -219,7 +219,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 21690000,0.77,-0.012,-0.0018,-0.63,0.0057,0.021,0.017,0.0021,0.009,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.0002,0.0088,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00039,0.00039,0.02,0.025,0.025,0.0084,0.058,0.058,0.038,1.4e-06,1.4e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
 21790000,0.77,-0.012,-0.0017,-0.63,0.0044,0.021,0.015,0.00046,0.01,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00029,0.0086,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00039,0.00038,0.02,0.022,0.022,0.0082,0.049,0.049,0.038,1.3e-06,1.3e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
 21890000,0.77,-0.012,-0.0017,-0.63,0.0044,0.021,0.016,0.00091,0.013,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.0003,0.0086,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00039,0.00039,0.02,0.024,0.024,0.0082,0.055,0.055,0.038,1.3e-06,1.3e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
-21990000,0.77,-0.012,-0.0017,-0.63,0.003,0.023,0.016,-0.00047,0.013,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00035,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00038,0.00038,0.02,0.021,0.021,0.0081,0.047,0.047,0.038,1.2e-06,1.2e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
+21990000,0.77,-0.012,-0.0017,-0.63,0.0031,0.023,0.016,-0.00047,0.013,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00035,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00038,0.00038,0.02,0.021,0.021,0.0081,0.047,0.047,0.038,1.2e-06,1.2e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
 22090000,0.77,-0.012,-0.0017,-0.63,0.0035,0.022,0.015,-0.00015,0.016,-3.7e+02,-0.0015,-0.0061,4.4e-05,-0.00036,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00038,0.00038,0.02,0.023,0.023,0.0081,0.053,0.053,0.038,1.2e-06,1.2e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
 22190000,0.77,-0.012,-0.0017,-0.63,0.0038,0.019,0.015,-0.00015,0.013,-3.7e+02,-0.0015,-0.0061,4.4e-05,-5.3e-05,0.0084,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00038,0.00038,0.02,0.021,0.021,0.008,0.046,0.046,0.037,1.1e-06,1.1e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
 22290000,0.77,-0.012,-0.0017,-0.63,0.005,0.021,0.015,0.00028,0.015,-3.7e+02,-0.0015,-0.0061,4.4e-05,-6.1e-05,0.0084,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00038,0.00038,0.02,0.022,0.022,0.008,0.051,0.051,0.037,1.1e-06,1.1e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
diff --git a/src/modules/ekf2/test/change_indication/iris_gps.csv b/src/modules/ekf2/test/change_indication/iris_gps.csv
index 355bda34b5..11611ada8a 100644
--- a/src/modules/ekf2/test/change_indication/iris_gps.csv
+++ b/src/modules/ekf2/test/change_indication/iris_gps.csv
@@ -1,5 +1,5 @@
 Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
-10000,1,-0.011,-0.01,0.00023,0.00033,-0.00013,-0.01,1e-05,-3.8e-06,-0.00042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00018,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+10000,1,-0.011,-0.01,0.00023,0.00033,-0.00013,-0.01,1e-05,-3.9e-06,-0.00042,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00018,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 90000,1,-0.011,-0.01,0.00033,-0.001,-0.0031,-0.024,-3.8e-05,-0.00013,-0.0021,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0.01,0.01,0.00046,25,25,10,1e+02,1e+02,1e+02,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 190000,1,-0.012,-0.011,0.00044,-0.0023,-0.003,-0.037,-0.00017,-0.00043,-0.017,4.7e-10,-5e-10,-1.5e-11,0,0,-6.8e-08,0,0,0,0,0,0,0,0,0.011,0.011,0.00094,25,25,10,1e+02,1e+02,1,0.01,0.01,0.01,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 290000,1,-0.012,-0.011,0.00044,-0.0033,-0.0044,-0.046,-0.00024,-0.00025,-0.018,3.8e-09,-5.9e-09,-4.7e-10,0,0,-2.9e-06,0,0,0,0,0,0,0,0,0.011,0.012,0.00077,25,25,9.6,0.37,0.37,0.41,0.01,0.01,0.0052,0.04,0.04,0.04,0,0,0,0,0,0,0,0