diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp
index 3cb1c76080..14255f6d71 100644
--- a/src/modules/ekf2/EKF/terrain_estimator.cpp
+++ b/src/modules/ekf2/EKF/terrain_estimator.cpp
@@ -194,6 +194,10 @@ void Ekf::resetHaglRng()
 void Ekf::stopHaglRngFusion()
 {
 	_hagl_sensor_status.flags.range_finder = false;
+	_hagl_innov = 0.f;
+	_hagl_innov_var = 0.f;
+	_hagl_test_ratio = 0.f;
+	_innov_check_fail_status.flags.reject_hagl = false;
 }
 
 void Ekf::fuseHaglRng()
@@ -290,6 +294,10 @@ void Ekf::startHaglFlowFusion()
 void Ekf::stopHaglFlowFusion()
 {
 	_hagl_sensor_status.flags.flow = false;
+	_hagl_innov = 0.f;
+	_hagl_innov_var = 0.f;
+	_hagl_test_ratio = 0.f;
+	_innov_check_fail_status.flags.reject_hagl = false;
 }
 
 void Ekf::resetHaglFlow()