diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 390dfceb8705a..67ac2a57943a4 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -294,6 +294,7 @@ void NavEKF3_core::SelectMagFusion()
                 have_fused_gps_yaw = true;
                 lastSynthYawTime_ms = imuSampleTime_ms;
                 last_gps_yaw_fuse_ms = imuSampleTime_ms;
+                recordYawResetsCompleted();
             } else if (tiltAlignComplete && yawAlignComplete) {
                 have_fused_gps_yaw = fuseEulerYaw(yawFusionMethod::GPS);
                 if (have_fused_gps_yaw) {