diff --git a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_position_measurement_interface.hpp b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_position_measurement_interface.hpp
index 98ceece..fb06098 100644
--- a/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_position_measurement_interface.hpp
+++ b/px4_ros2_cpp/include/px4_ros2/navigation/experimental/global_position_measurement_interface.hpp
@@ -62,6 +62,16 @@ class GlobalPositionMeasurementInterface : public PositionMeasurementInterfaceBa
    */
   void update(const GlobalPositionMeasurement & global_position_measurement) const;
 
+/**
+ * @brief Notify the FMU that the global position estimate has been reset.
+ *
+ * Increments the reset counter for horizontal position (latitude and longitude) to signal the EKF
+ * of a discontinuity in external position data (e.g., loss of tracking or reinitialization). Future measurement
+ * updates will contain the incremented counter. This helps the EKF adjust and maintain consistent state estimation,
+ * and accept new measurements after a gap or inconsistency in updates.
+ */
+  inline void reset() {++_lat_lon_reset_counter;}
+
 private:
   /**
    * @brief Check that at least one measurement value is defined.
@@ -85,6 +95,7 @@ class GlobalPositionMeasurementInterface : public PositionMeasurementInterfaceBa
 
   rclcpp::Publisher<px4_msgs::msg::VehicleGlobalPosition>::SharedPtr _aux_global_position_pub;
 
+  uint8_t _lat_lon_reset_counter{0};  /** Counter for reset events on horizontal position coordinates */
   // uint8_t _altitude_frame;
 };
 
diff --git a/px4_ros2_cpp/src/navigation/experimental/global_position_measurement_interface.cpp b/px4_ros2_cpp/src/navigation/experimental/global_position_measurement_interface.cpp
index b440bb2..c49d790 100644
--- a/px4_ros2_cpp/src/navigation/experimental/global_position_measurement_interface.cpp
+++ b/px4_ros2_cpp/src/navigation/experimental/global_position_measurement_interface.cpp
@@ -41,6 +41,7 @@ void GlobalPositionMeasurementInterface::update(
 
   // Populate aux global position
   VehicleGlobalPosition aux_global_position;
+  aux_global_position.lat_lon_reset_counter = _lat_lon_reset_counter;
 
   aux_global_position.timestamp_sample =
     global_position_measurement.timestamp_sample.nanoseconds() *