diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 04f3c4d918..d10ff2d0df 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -817,6 +817,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				if (gps_valid) {
 					if (gps.eph > max_eph_epv || gps.epv > max_eph_epv || gps.fix_type < 3) {
 						gps_valid = false;
+						ref_inited = false; //if gps gets lost it has to init again to avoid jumps
 						mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
 					}