diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
index 1d1e79ae9b..25df5b9268 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
@@ -58,7 +58,7 @@ void NavEKF2_core::controlMagYawReset()
     if (flightResetAllowed && !assume_zero_sideslip()) {
         // check that we have reached a height where ground magnetic interference effects are insignificant
         // and can perform a final reset of the yaw and field states
-        finalResetRequest = (stateStruct.position.z  - posDownAtTakeoff) < -5.0f;
+        finalResetRequest = (stateStruct.position.z  - posDownAtTakeoff) < -EKF2_MAG_FINAL_RESET_ALT;
 
         // check for increasing height
         bool hgtIncreasing = (posDownAtLastMagReset-stateStruct.position.z) > 0.5f;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 65fbdf598b..9ba42c6e2f 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -50,6 +50,9 @@
 // target EKF update time step
 #define EKF_TARGET_DT 0.01f
 
+// mag fusion final reset altitude
+#define EKF2_MAG_FINAL_RESET_ALT 2.5f
+
 class AP_AHRS;
 
 class NavEKF2_core