From d0ba259d0d813a83d074912ecd5e6ee1f7769f85 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 19 Oct 2016 21:32:28 +1100
Subject: [PATCH] AP_NavEKF: Fix bug in median filter code

---
 libraries/AP_NavEKF/AP_NavEKF_core.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF_core.cpp b/libraries/AP_NavEKF/AP_NavEKF_core.cpp
index 8a7978c1cc..63b32990d9 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_core.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_core.cpp
@@ -5137,8 +5137,8 @@ void NavEKF_core::readRangeFinder(void)
                 minIndex = 1;
                 maxIndex = 0;
             } else {
-                maxIndex = 0;
-                minIndex = 1;
+                minIndex = 0;
+                maxIndex = 1;
             }
             if (storedRngMeas[2] > storedRngMeas[maxIndex]) {
                 midIndex = maxIndex;