diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 9bd5b15458..1d77c68ef9 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -1333,9 +1333,9 @@ void NavEKF2::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 NavEKF2::getFilterFaults(int8_t instance, uint16_t &faults) const
@@ -1354,10 +1354,10 @@ void NavEKF2::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 NavEKF2::getFilterTimeouts(int8_t instance, uint8_t &timeouts) const
 {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 04c1c70632..c7f62b9267 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -256,9 +256,9 @@ 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;
@@ -270,10 +270,10 @@ 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_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 5387d8e424..e566f97e7a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -484,9 +484,9 @@ 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  NavEKF2_core::getFilterFaults(uint16_t &faults) const
@@ -645,4 +645,4 @@ bool NavEKF2_core::getDataEKFGSF(float &yaw_composite, float &yaw_composite_vari
         return yawEstimator->getLogData(yaw_composite, yaw_composite_variance, yaw, innov_VN, innov_VE, weight);
     }
     return false;
-}
\ No newline at end of file
+}
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index f83acfa54b..163b246331 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -246,9 +246,9 @@ 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(uint16_t &faults) const;