diff --git a/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
index b9e79d5f74..e5fd89e196 100644
--- a/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+++ b/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
@@ -87,24 +87,24 @@ void FlightTaskAutoLineSmoothVel::reActivate()
  * Those functions are called by the base FlightTask in
  * case of an EKF reset event
  */
-void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY()
+void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
 {
 	_trajectory[0].setCurrentPosition(_position(0));
 	_trajectory[1].setCurrentPosition(_position(1));
 }
 
-void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY()
+void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
 {
 	_trajectory[0].setCurrentVelocity(_velocity(0));
 	_trajectory[1].setCurrentVelocity(_velocity(1));
 }
 
-void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ()
+void FlightTaskAutoLineSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
 {
 	_trajectory[2].setCurrentPosition(_position(2));
 }
 
-void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ()
+void FlightTaskAutoLineSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
 {
 	_trajectory[2].setCurrentVelocity(_velocity(2));
 }
diff --git a/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
index 1a6ceb8206..90eb84c68e 100644
--- a/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
+++ b/src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
@@ -55,10 +55,10 @@ public:
 protected:
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
-	void _ekfResetHandlerPositionXY() override;
-	void _ekfResetHandlerVelocityXY() override;
-	void _ekfResetHandlerPositionZ() override;
-	void _ekfResetHandlerVelocityZ() override;
+	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
+	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
+	void _ekfResetHandlerPositionZ(float delta_z) override;
+	void _ekfResetHandlerVelocityZ(float delta_vz) override;
 	void _ekfResetHandlerHeading(float delta_psi) override;
 
 	void _generateSetpoints() override; /**< Generate setpoints along line. */
diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
index a40d63c57b..2e48160b59 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
@@ -49,22 +49,22 @@ void FlightTask::_checkEkfResetCounters()
 {
 	// Check if a reset event has happened
 	if (_sub_vehicle_local_position.get().xy_reset_counter != _reset_counters.xy) {
-		_ekfResetHandlerPositionXY();
+		_ekfResetHandlerPositionXY(matrix::Vector2f{_sub_vehicle_local_position.get().delta_xy});
 		_reset_counters.xy = _sub_vehicle_local_position.get().xy_reset_counter;
 	}
 
 	if (_sub_vehicle_local_position.get().vxy_reset_counter != _reset_counters.vxy) {
-		_ekfResetHandlerVelocityXY();
+		_ekfResetHandlerVelocityXY(matrix::Vector2f{_sub_vehicle_local_position.get().delta_vxy});
 		_reset_counters.vxy = _sub_vehicle_local_position.get().vxy_reset_counter;
 	}
 
 	if (_sub_vehicle_local_position.get().z_reset_counter != _reset_counters.z) {
-		_ekfResetHandlerPositionZ();
+		_ekfResetHandlerPositionZ(_sub_vehicle_local_position.get().delta_z);
 		_reset_counters.z = _sub_vehicle_local_position.get().z_reset_counter;
 	}
 
 	if (_sub_vehicle_local_position.get().vz_reset_counter != _reset_counters.vz) {
-		_ekfResetHandlerVelocityZ();
+		_ekfResetHandlerVelocityZ(_sub_vehicle_local_position.get().delta_vz);
 		_reset_counters.vz = _sub_vehicle_local_position.get().vz_reset_counter;
 	}
 
diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
index cbb98a47bf..22389115f2 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
@@ -208,10 +208,10 @@ protected:
 	 * TODO: add the delta values to all the handlers
 	 */
 	void _checkEkfResetCounters();
-	virtual void _ekfResetHandlerPositionXY() {};
-	virtual void _ekfResetHandlerVelocityXY() {};
-	virtual void _ekfResetHandlerPositionZ() {};
-	virtual void _ekfResetHandlerVelocityZ() {};
+	virtual void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) {};
+	virtual void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) {};
+	virtual void _ekfResetHandlerPositionZ(float delta_z) {};
+	virtual void _ekfResetHandlerVelocityZ(float delta_vz) {};
 	virtual void _ekfResetHandlerHeading(float delta_psi) {};
 
 	map_projection_reference_s _global_local_proj_ref{};
diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
index afbc115297..dd21360366 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
@@ -77,12 +77,12 @@ bool FlightTaskManualAcceleration::update()
 	return ret;
 }
 
-void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
+void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
 {
 	_stick_acceleration_xy.resetPosition();
 }
 
-void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
+void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
 {
 	_stick_acceleration_xy.resetVelocity(_velocity.xy());
 }
diff --git a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
index 36d360ca81..4794a84fef 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.hpp
@@ -56,6 +56,6 @@ private:
 	StickAccelerationXY _stick_acceleration_xy;
 	StickYaw _stick_yaw;
 
-	void _ekfResetHandlerPositionXY() override;
-	void _ekfResetHandlerVelocityXY() override;
+	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
+	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
 };
diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
index da460ad214..1df2d0a9eb 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
@@ -69,12 +69,12 @@ void FlightTaskManualAltitudeSmoothVel::reActivate()
 	_smoothing.reset(0.f, 0.f, _position(2));
 }
 
-void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ()
+void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
 {
 	_smoothing.setCurrentPosition(_position(2));
 }
 
-void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ()
+void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
 {
 	_smoothing.setCurrentVelocity(_velocity(2));
 }
diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
index 7a681ac16e..6e7e2728cd 100644
--- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp
@@ -55,8 +55,8 @@ protected:
 	virtual void _updateSetpoints() override;
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
-	void _ekfResetHandlerPositionZ() override;
-	void _ekfResetHandlerVelocityZ() override;
+	void _ekfResetHandlerPositionZ(float delta_z) override;
+	void _ekfResetHandlerVelocityZ(float delta_vz) override;
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
 					(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
diff --git a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index 964cf0af91..5d61f74a14 100644
--- a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -73,22 +73,22 @@ void FlightTaskManualPositionSmoothVel::reActivate()
 	_smoothing_z.reset(0.f, 0.f, _position(2));
 }
 
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionXY()
+void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy)
 {
 	_smoothing_xy.setCurrentPosition(_position.xy());
 }
 
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityXY()
+void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy)
 {
 	_smoothing_xy.setCurrentVelocity(_velocity.xy());
 }
 
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionZ()
+void FlightTaskManualPositionSmoothVel::_ekfResetHandlerPositionZ(float delta_z)
 {
 	_smoothing_z.setCurrentPosition(_position(2));
 }
 
-void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityZ()
+void FlightTaskManualPositionSmoothVel::_ekfResetHandlerVelocityZ(float delta_vz)
 {
 	_smoothing_z.setCurrentVelocity(_velocity(2));
 }
diff --git a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
index 2338a41ee7..fbf58c2745 100644
--- a/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
+++ b/src/modules/flight_mode_manager/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.hpp
@@ -61,10 +61,10 @@ protected:
 	virtual void _updateSetpoints() override;
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
-	void _ekfResetHandlerPositionXY() override;
-	void _ekfResetHandlerVelocityXY() override;
-	void _ekfResetHandlerPositionZ() override;
-	void _ekfResetHandlerVelocityZ() override;
+	void _ekfResetHandlerPositionXY(const matrix::Vector2f &delta_xy) override;
+	void _ekfResetHandlerVelocityXY(const matrix::Vector2f &delta_vxy) override;
+	void _ekfResetHandlerPositionZ(float delta_z) override;
+	void _ekfResetHandlerVelocityZ(float delta_vz) override;
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualPosition,
 					(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,