From 1f21d72c7936b113307b2b507123ab6b7f2bf755 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 17 Sep 2020 07:54:34 +1000
Subject: [PATCH] AP_NavEKF3: fixed init of earth state mag variances

we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
---
 libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index 99a04592c1..51c894d107 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -121,7 +121,7 @@ void NavEKF3_core::setWindMagStateLearningMode()
             P[21][21] = bodyMagFieldVar.z;
         } else {
             // set the variances equal to the observation variances
-            for (uint8_t index=18; index<=21; index++) {
+            for (uint8_t index=16; index<=21; index++) {
                 P[index][index] = sq(frontend->_magNoise);
             }