diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 5a362b879d..db2d1251a1 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -315,6 +315,10 @@ void NavEKF::ResetHeight(void)
 
 void NavEKF::InitialiseFilterDynamic(void)
 {
+    // this forces healthy() to be false so that when we ask for ahrs
+    // attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE
+    statesInitialised = false;
+
     // Set re-used variables to zero
     ZeroVariables();