diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 1fa6aef4c1..c9fc0b9c6b 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -383,6 +383,7 @@ void ins_int_update_gps(struct GpsState *gps_s)
 #endif
 #if INS_USE_GPS_ALT_SPEED
   vff_update_vz_conf(((float)gps_speed_cm_s_ned.z) / 100.0, INS_VFF_VZ_R_GPS);
+  ins_int.propagation_cnt = 0;
 #endif
 
 #if USE_HFF