diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 4da5d3ab84..612db78622 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3402,6 +3402,7 @@ void NavEKF::ZeroVariables()
     secondLastFixTime_ms = imuSampleTime_ms;
     lastDecayTime_ms = imuSampleTime_ms;
 
+    gpsNoiseScaler = 1.0f;
     velTimeout = false;
     posTimeout = false;
     hgtTimeout = false;