Madgwick filter goes bad after big time jump

edit

Hi Our robot doesn't have a permanent internet connection so when it is turned on its clock starts from. 1.1.2016. After startup our robot starts calculating orientation by using madgwick filter. After a few minutes we get wifi signal and the clock adjusts to correct time. When the clock adjusts we get a big jump in orientation From the filter even if the robot isn't moving. How can we fix it? Thanks

Edit: if we restart the filter we will get the correct orientation

Ps we can start again the filter but then all the yaw data will be lost