diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index ddf2becf73..f850a38a19 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -9,7 +9,7 @@
 *                   RESET FUNCTIONS                     *
 ********************************************************/
 
-// Reset velocity states to last GPS measurement if available or to zero if in constant position mode or if PV aiding is not absolute
+// Reset XY velocity states to last GPS measurement if available or to zero if in constant position mode or if PV aiding is not absolute
 // Do not reset vertical velocity using GPS as there is baro alt available to constrain drift
 void NavEKF3_core::ResetVelocity(resetDataSource velResetSource)
 {
@@ -22,7 +22,7 @@ void NavEKF3_core::ResetVelocity(resetDataSource velResetSource)
     zeroCols(P,4,5);
 
     if (PV_AidingMode != AID_ABSOLUTE) {
-        stateStruct.velocity.zero();
+        stateStruct.velocity.xy().zero();
         // set the variances using the measurement noise parameter
         P[5][5] = P[4][4] = sq(frontend->_gpsHorizVelNoise);
     } else {