diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index b0a6c7991e..30962a71f3 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -734,8 +734,6 @@ void Ekf::controlHeightSensorTimeouts()
 		// Reset vertical position and velocity states to the last measurement
 		if (request_height_reset) {
 			resetHeight();
-			// Reset the timout timer
-			_time_last_hgt_fuse = _time_last_imu;
 		}
 	}
 }
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 0848eb4d95..fbb30165e4 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -345,6 +345,9 @@ void Ekf::resetHeight()
 		// that does not destabilise the filter
 		P.uncorrelateCovarianceSetVariance<1>(6, 10.0f);
 	}
+
+	// Reset the timout timer
+	_time_last_hgt_fuse = _time_last_imu;
 }
 
 // align output filter states to match EKF states at the fusion time horizon