diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index b1964fcc19..a5dc93320e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -700,6 +700,9 @@ bool NavEKF3::InitialiseFilter(void)
     // Set the primary initially to be the lowest index
     primary = 0;
 
+    // invalidate shared origin
+    common_origin_valid = false;
+
     // initialise the cores. We return success only if all cores
     // initialise successfully
     bool ret = true;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 8aca702994..337589d336 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -484,7 +484,6 @@ bool NavEKF3_core::setOriginLLH(const Location &loc)
 // Set the NED origin to be used until the next filter reset
 void NavEKF3_core::setOrigin(const Location &loc)
 {
-    // assume origin at current GPS location (no averaging)
     EKF_origin = loc;
     // if flying, correct for height change from takeoff so that the origin is at field elevation
     if (inFlight) {