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;
                 }
             }
         }