diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 73f5a2bb39..fabf5e33b8 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -170,7 +170,6 @@ bool Ekf::init(uint64_t timestamp)
 	_imu_updated = false;
 	_NED_origin_initialised = false;
 	_gps_speed_valid = false;
-	_mag_healthy = false;
 
 	_filter_initialised = false;
 	_terrain_initialised = false;
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index f615e4ab86..161e74c6a9 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -57,7 +57,6 @@ EstimatorInterface::EstimatorInterface():
 	_gps_speed_valid(false),
 	_gps_origin_eph(0.0f),
 	_gps_origin_epv(0.0f),
-	_mag_healthy(false),
 	_airspeed_healthy(false),
 	_yaw_test_ratio(0.0f),
 	_time_last_imu(0),
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 0babecb623..8cc9baa5fb 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -259,12 +259,11 @@ protected:
 	float _gps_origin_epv; // vertical position uncertainty of the GPS origin
 	struct map_projection_reference_s _pos_ref;    // Contains WGS-84 position latitude and longitude (radians)
 
-	bool _mag_healthy;              // computed by mag innovation test
-	bool _airspeed_healthy;			// computed by airspeed innovation test
+	bool _airspeed_healthy;		// computed by airspeed innovation test
 	float _yaw_test_ratio;          // yaw innovation consistency check ratio
 	float _mag_test_ratio[3];       // magnetometer XYZ innovation consistency check ratios
 	float _vel_pos_test_ratio[6];   // velocity and position innovation consistency check ratios
-	float _tas_test_ratio;			// tas innovation consistency check ratio
+	float _tas_test_ratio;		// tas innovation consistency check ratio
 
 	// data buffer instances
 	RingBuffer<imuSample> _imu_buffer;
diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 9c41a1eb35..e019c70a71 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -176,20 +176,19 @@ void Ekf::fuseMag()
 
 	// Perform an innovation consistency check on each measurement and if one axis fails
 	// do not fuse any data from the sensor because the most common errors affect multiple axes.
-	_mag_healthy = true;
-
+	bool mag_fail = false;
 	for (uint8_t index = 0; index <= 2; index++) {
 		_mag_test_ratio[index] = sq(_mag_innov[index]) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var[index]);
 
 		if (_mag_test_ratio[index] > 1.0f) {
-			_mag_healthy = false;
+			mag_fail = false;
 			_sensor_fault_status.value |= (1 << (index + 3));
 		} else {
 			_sensor_fault_status.value &= !(1 << (index + 3));
 		}
 	}
 
-	if (!_mag_healthy) {
+	if (mag_fail) {
 		return;
 	}
 
@@ -606,7 +605,6 @@ void Ekf::fuseHeading()
 
 	// set the magnetometer unhealthy if the test fails
 	if (_yaw_test_ratio > 1.0f) {
-		_mag_healthy = false;
 		_sensor_fault_status.flags.reject_yaw = true;
 
 		// if we are in air we don't want to fuse the measurement
@@ -622,7 +620,6 @@ void Ekf::fuseHeading()
 		}
 
 	} else {
-		_mag_healthy = true;
 		_sensor_fault_status.flags.reject_yaw = false;
 	}