diff --git a/libraries/AP_InertialNav/AP_InertialNav.cpp b/libraries/AP_InertialNav/AP_InertialNav.cpp
index 332a439be4..704a2ea568 100644
--- a/libraries/AP_InertialNav/AP_InertialNav.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav.cpp
@@ -351,6 +351,7 @@ void AP_InertialNav::set_altitude( float new_altitude)
     _position_base.z = new_altitude;
     _position_correction.z = 0;
     _position.z = new_altitude; // _position = _position_base + _position_correction
+    _hist_position_estimate_z.clear(); // reset z history to avoid fake z velocity at next baro calibration (next rearm)
 }
 
 //