diff --git a/flight/Modules/Attitude/revolution/attitude.c b/flight/Modules/Attitude/revolution/attitude.c
index cc175cb48..e4380b2ab 100644
--- a/flight/Modules/Attitude/revolution/attitude.c
+++ b/flight/Modules/Attitude/revolution/attitude.c
@@ -776,6 +776,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		NEDPositionSet(&nedPos);
 
 	} else if (!outdoor_mode) {
+		baroOffset = 0;
 		INSSetPosVelVar(1e2f, 1e2f);
 		vel[0] = vel[1] = vel[2] = 0;
 		NED[0] = NED[1] = 0;