diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index b0ca385d90..fd3cdbd18c 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -672,7 +672,6 @@ private:
 
 # if defined(CONFIG_EKF2_GNSS_YAW)
 	estimator_aid_source1d_s _aid_src_gnss_yaw{};
-	uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source
 # endif // CONFIG_EKF2_GNSS_YAW
 #endif // CONFIG_EKF2_GNSS
 
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index d8a6b26522..a88bb5739c 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -358,7 +358,6 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 				&& !_gps_intermittent;
 
 		if (_control_status.flags.gps_yaw) {
-
 			if (continuing_conditions_passing) {
 
 				fuseGpsYaw(gps_sample.yaw_offset);
@@ -366,27 +365,7 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 				const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max);
 
 				if (is_fusion_failing) {
-					if (_nb_gps_yaw_reset_available > 0) {
-						// Data seems good, attempt a reset
-						resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset);
-
-						if (_control_status.flags.in_air) {
-							_nb_gps_yaw_reset_available--;
-						}
-
-					} else if (starting_conditions_passing) {
-						// Data seems good, but previous reset did not fix the issue
-						// something else must be wrong, declare the sensor faulty and stop the fusion
-						_control_status.flags.gps_yaw_fault = true;
-						stopGpsYawFusion();
-
-					} else {
-						// A reset did not fix the issue but all the starting checks are not passing
-						// This could be a temporary issue, stop the fusion without declaring the sensor faulty
-						stopGpsYawFusion();
-					}
-
-					// TODO: should we give a new reset credit when the fusion does not fail for some time?
+					stopGpsYawFusion();
 				}
 
 			} else {
@@ -397,14 +376,27 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
 		} else {
 			if (starting_conditions_passing) {
 				// Try to activate GPS yaw fusion
-				if (resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset)) {
-					ECL_INFO("starting GPS yaw fusion");
+				const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
 
-					_aid_src_gnss_yaw.time_last_fuse = _time_delayed_us;
+				if (!_control_status.flags.in_air
+				    || !_control_status.flags.yaw_align
+				    || not_using_ne_aiding) {
+
+					// Reset before starting the fusion
+					if (resetYawToGps(gps_sample.yaw, gps_sample.yaw_offset)) {
+						_aid_src_gnss_yaw.time_last_fuse = _time_delayed_us;
+						_control_status.flags.gps_yaw = true;
+						_control_status.flags.yaw_align = true;
+					}
+
+				} else if (!_aid_src_gnss_yaw.innovation_rejected) {
+					// Do not force a reset but wait for the consistency check to pass
 					_control_status.flags.gps_yaw = true;
-					_control_status.flags.yaw_align = true;
+					fuseGpsYaw(gps_sample.yaw_offset);
+				}
 
-					_nb_gps_yaw_reset_available = 1;
+				if (_control_status.flags.gps_yaw) {
+					ECL_INFO("starting GPS yaw fusion");
 				}
 			}
 		}
diff --git a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp
index 2c3afc655a..9fd8c4b179 100644
--- a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp
+++ b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp
@@ -275,9 +275,15 @@ TEST_F(EkfGpsHeadingTest, yawJmpOnGround)
 	_sensor_simulator._gps.setYaw(gps_heading);
 	_sensor_simulator.runSeconds(8);
 
-	// THEN: the fusion should reset
-	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
+	// THEN: the fusion should stop, reset to mag
+	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion());
+	EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
 	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
+
+	// AND THEN: restart GNSS yaw fusion
+	_sensor_simulator.runSeconds(5);
+	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeadingFusion());
+	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2);
 	EXPECT_LT(fabsf(matrix::wrap_pi(_ekf_wrapper.getYawAngle() - gps_heading)), math::radians(1.f));
 }
 
@@ -285,7 +291,7 @@ TEST_F(EkfGpsHeadingTest, yawJumpInAir)
 {
 	// GIVEN: the GPS yaw fusion activated
 	float gps_heading = _ekf_wrapper.getYawAngle();
-	_sensor_simulator._gps.setYaw(gps_heading);
+	_sensor_simulator._gps.setYaw(gps_heading + math::radians(90.f));
 	_sensor_simulator.runSeconds(5);
 	_ekf->set_in_air_status(true);
 
@@ -295,20 +301,14 @@ TEST_F(EkfGpsHeadingTest, yawJumpInAir)
 	_sensor_simulator._gps.setYaw(gps_heading);
 	_sensor_simulator.runSeconds(7.5);
 
-	// THEN: the fusion should reset
-	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
-
-	// BUT WHEN: the measurement jumps a 2nd time
-	gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + math::radians(180.f));
-	_sensor_simulator._gps.setYaw(gps_heading);
-	_sensor_simulator.runSeconds(7.5);
+	// THEN: the fusion should not reset as heading is still observable through GNSS vel/pos fusion
+	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter);
 
 	// THEN: after a few seconds, the fusion should stop and
 	// the estimator doesn't fall back to mag fusion because it has
 	// been declared inconsistent with the filter states
 	EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion());
 	EXPECT_FALSE(_ekf_wrapper.isMagHeadingConsistent());
-	//TODO: should we force a reset to mag if the GNSS yaw fusion was forced to stop?
 	EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
 }