From fe378fd761d57430b32b6de2c4db8c95b3a65843 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 22 Jan 2019 10:29:42 +1100
Subject: [PATCH] EKF: Prevent unwanted declination fusion when re-starting
 3-axis fusion

---
 EKF/control.cpp    | 2 +-
 EKF/covariance.cpp | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 71385c50df..bf5766c3e0 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -1608,7 +1608,7 @@ void Ekf::controlMagFusion()
 				_mag_decl_cov_reset = true;
 				fuseMag();
 			} else {
-				// The normal sequence is to fuse the magnetmer data first before fusing
+				// The normal sequence is to fuse the magnetometer data first before fusing
 				// declination angle at a higher uncertainty to allow some learning of
 				// declination angle over time.
 				fuseMag();
diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index c24fe84e60..ba0847252c 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -847,7 +847,6 @@ void Ekf::fixCovarianceErrors()
 	if (!_control_status.flags.mag_3D) {
 		zeroRows(P, 16, 21);
 		zeroCols(P, 16, 21);
-		_mag_decl_cov_reset = false;
 
 	} else {
 		// constrain variances