diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index d7b3a5ea08..92ccc0ab3c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1481,9 +1481,9 @@ void NavEKF3::setTerrainHgtStable(bool val)
   1 = velocities are NaN
   2 = badly conditioned X magnetometer fusion
   3 = badly conditioned Y magnetometer fusion
-  5 = badly conditioned Z magnetometer fusion
-  6 = badly conditioned airspeed fusion
-  7 = badly conditioned synthetic sideslip fusion
+  4 = badly conditioned Z magnetometer fusion
+  5 = badly conditioned airspeed fusion
+  6 = badly conditioned synthetic sideslip fusion
   7 = filter is not initialised
 */
 void NavEKF3::getFilterFaults(int8_t instance, uint16_t &faults) const
@@ -1502,10 +1502,10 @@ void NavEKF3::getFilterFaults(int8_t instance, uint16_t &faults) const
   1 = velocity measurement timeout
   2 = height measurement timeout
   3 = magnetometer measurement timeout
+  4 = unassigned
   5 = unassigned
   6 = unassigned
   7 = unassigned
-  7 = unassigned
 */
 void NavEKF3::getFilterTimeouts(int8_t instance, uint8_t &timeouts) const
 {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 95971e74dc..0aaf1b5872 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -327,9 +327,9 @@ public:
      1 = velocities are NaN
      2 = badly conditioned X magnetometer fusion
      3 = badly conditioned Y magnetometer fusion
-     5 = badly conditioned Z magnetometer fusion
-     6 = badly conditioned airspeed fusion
-     7 = badly conditioned synthetic sideslip fusion
+     4 = badly conditioned Z magnetometer fusion
+     5 = badly conditioned airspeed fusion
+     6 = badly conditioned synthetic sideslip fusion
      7 = filter is not initialised
     */
     void getFilterFaults(int8_t instance, uint16_t &faults) const;
@@ -341,10 +341,10 @@ public:
      1 = velocity measurement timeout
      2 = height measurement timeout
      3 = magnetometer measurement timeout
+     4 = unassigned
      5 = unassigned
      6 = unassigned
      7 = unassigned
-     7 = unassigned
     */
     void getFilterTimeouts(int8_t instance, uint8_t &timeouts) const;
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index e9ccaa0b56..ac80d637ae 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -492,9 +492,9 @@ return the filter fault status as a bitmasked integer
  1 = velocities are NaN
  2 = badly conditioned X magnetometer fusion
  3 = badly conditioned Y magnetometer fusion
- 5 = badly conditioned Z magnetometer fusion
- 6 = badly conditioned airspeed fusion
- 7 = badly conditioned synthetic sideslip fusion
+ 4 = badly conditioned Z magnetometer fusion
+ 5 = badly conditioned airspeed fusion
+ 6 = badly conditioned synthetic sideslip fusion
  7 = filter is not initialised
 */
 void  NavEKF3_core::getFilterFaults(uint16_t &faults) const