From ccc1f906f8a013b5da95fa4aaeb18ad2dde1b58c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 9 Feb 2019 09:15:56 +1100
Subject: [PATCH] AP_NavEKF2: fixed EKF compass switching

when we had 3 compasses the lack of the 'break' meant when we switched
compass in flight we would always switch back instantly to the one
that we had just rejected.
---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 207a41b3e4..4ec5450812 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -247,6 +247,7 @@ void NavEKF2_core::readMagData()
                     magStateResetRequest = true;
                     // declare the field unlearned so that the reset request will be obeyed
                     magFieldLearned = false;
+                    break;
                 }
             }
         }