diff --git a/src/modules/ekf2/test/test_EKF_basics.cpp b/src/modules/ekf2/test/test_EKF_basics.cpp
index 7b3cf096eb..5167eb9de7 100644
--- a/src/modules/ekf2/test/test_EKF_basics.cpp
+++ b/src/modules/ekf2/test/test_EKF_basics.cpp
@@ -223,7 +223,7 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	_sensor_simulator.setGpsLatitude(_latitude_new);
 	_sensor_simulator.setGpsLongitude(_longitude_new);
 	_sensor_simulator.setGpsAltitude(_altitude_new);
-	_sensor_simulator.runSeconds(2);
+	_sensor_simulator.runSeconds(5);
 
 	_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude);
 
@@ -231,8 +231,9 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
 	EXPECT_NEAR(_altitude, _altitude_new, 0.01f);
 
-	_latitude_new  = -15.0000005;
-	_longitude_new = -115.0000005;
+	// Note: we cannot reset too far since the local position is limited to 1e6m
+	_latitude_new  = 14.0000005;
+	_longitude_new = 109.0000005;
 	_altitude_new  = 1500.0;
 
 	_ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new);
@@ -242,6 +243,8 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized)
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
 	EXPECT_FLOAT_EQ(_altitude, _altitude_new);
 
+	_sensor_simulator.runSeconds(1);
+
 	float hpos = 0.f;
 	float vpos = 0.f;
 	float hvel = 0.f;
@@ -276,6 +279,8 @@ TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized)
 	EXPECT_DOUBLE_EQ(_longitude, _longitude_new);
 	EXPECT_FLOAT_EQ(_altitude, _altitude_new);
 
+	_sensor_simulator.runSeconds(1);
+
 	float hpos = 0.f;
 	float vpos = 0.f;
 	float hvel = 0.f;