diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 4f26b492e0..03a4f78785 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -2293,7 +2293,6 @@ FixedwingPositionControl::task_main()
 			if (_control_mode.flag_control_manual_enabled) {
 				if (_control_mode.flag_control_altitude_enabled && _global_pos.alt_reset_counter != _alt_reset_counter) {
 					_hold_alt += _global_pos.delta_alt;
-					_alt_reset_counter = _global_pos.alt_reset_counter;
 					// make TECS accept step in altitude and demanded altitude
 					_tecs.handle_alt_step(_global_pos.delta_alt, _global_pos.alt);
 				}
@@ -2304,12 +2303,13 @@ FixedwingPositionControl::task_main()
 
 					// reset heading hold flag, which will re-initialise position control
 					_hdg_hold_enabled = false;
-
-					// update reset counter
-					_pos_reset_counter = _global_pos.lat_lon_reset_counter;
 				}
 			}
 
+			// update the reset counters in any case
+			_alt_reset_counter = _global_pos.alt_reset_counter;
+			_pos_reset_counter = _global_pos.lat_lon_reset_counter;
+
 			// XXX add timestamp check
 			_global_pos_valid = true;
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index ee9fd721af..1ea176ad70 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -724,19 +724,16 @@ MulticopterPositionControl::poll_subscriptions()
 		if (_control_mode.flag_control_manual_enabled) {
 			if (_z_reset_counter != _local_pos.z_reset_counter) {
 				_pos_sp(2) += _local_pos.delta_z;
-				_z_reset_counter = _local_pos.z_reset_counter;
 			}
 
 			if (_xy_reset_counter != _local_pos.xy_reset_counter) {
 				_pos_sp(0) += _local_pos.delta_xy[0];
 				_pos_sp(1) += _local_pos.delta_xy[1];
-				_xy_reset_counter = _local_pos.xy_reset_counter;
 			}
 
 			if (_vz_reset_counter != _local_pos.vz_reset_counter) {
 				_vel_sp(2) += _local_pos.delta_vz;
 				_vel_sp_prev(2) +=  _local_pos.delta_vz;
-				_vz_reset_counter = _local_pos.vz_reset_counter;
 			}
 
 			if (_vxy_reset_counter != _local_pos.vxy_reset_counter) {
@@ -744,9 +741,14 @@ MulticopterPositionControl::poll_subscriptions()
 				_vel_sp(1) += _local_pos.delta_vxy[1];
 				_vel_sp_prev(0) += _local_pos.delta_vxy[0];
 				_vel_sp_prev(1) += _local_pos.delta_vxy[1];
-				_vxy_reset_counter = _local_pos.vxy_reset_counter;
 			}
 		}
+
+		// update the reset counters in any case
+		_z_reset_counter = _local_pos.z_reset_counter;
+		_xy_reset_counter = _local_pos.xy_reset_counter;
+		_vz_reset_counter = _local_pos.vz_reset_counter;
+		_vxy_reset_counter = _local_pos.vxy_reset_counter;
 	}
 }