diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 012354b16f..0d2cacd613 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -52,7 +52,7 @@
 #define POS_GATE_DEFAULT        5
 #define HGT_GATE_DEFAULT        5
 #define MAG_GATE_DEFAULT        3
-#define MAG_CAL_DEFAULT         3
+#define MAG_CAL_DEFAULT         2
 #define GLITCH_RADIUS_DEFAULT   25
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
@@ -75,7 +75,7 @@
 #define POS_GATE_DEFAULT        5
 #define HGT_GATE_DEFAULT        10
 #define MAG_GATE_DEFAULT        3
-#define MAG_CAL_DEFAULT         3
+#define MAG_CAL_DEFAULT         0
 #define GLITCH_RADIUS_DEFAULT   25
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
@@ -209,8 +209,8 @@ const AP_Param::GroupInfo NavEKF2::var_info[] PROGMEM = {
 
     // @Param: MAG_CAL
     // @DisplayName: Magnetometer calibration mode
-    // @Description: EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.
-    // @Values: 0:Speed and Height,1:Acceleration,2:Never,3:Always
+    // @Description: EKF_MAG_CAL = 0 enables calibration when airborne and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration when manoeuvreing. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition, is recommended if the external magnetic field is varying and is the default for rovers. EKF_MAG_CAL = 3 enables calibration when the first in-air field and yaw reset has completed and is the default for copters. EKF_MAG_CAL = 4 enables calibration all the time.
+    // @Values: 0:When flying,1:When manoeuvring,2:Never,3:After first climb yaw reset,4:Always
     // @User: Advanced
     AP_GROUPINFO("MAG_CAL", 14, NavEKF2, _magCal, MAG_CAL_DEFAULT),
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 2880aaa02c..1c95337af4 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -64,10 +64,14 @@ void NavEKF2_core::setWindMagStateLearningMode()
     }
 
     // Determine if learning of magnetic field states has been requested by the user
-    bool magCalRequested = ((frontend._magCal == 0) && !onGround) || ((frontend._magCal == 1) && manoeuvring)  || (frontend._magCal == 3);
+    bool magCalRequested =
+            ((frontend._magCal == 0) && inFlight) || // when flying
+            ((frontend._magCal == 1) && manoeuvring)  || // when manoeuvring
+            ((frontend._magCal == 3) && firstMagYawInit) || // when initial in-air yaw and field reset has completed
+            (frontend._magCal == 4); // all the time
 
-    // Deny mag calibration request if we aren't using the compass, have not perfomred the first in-air calibration are on the ground or it has been inhibited by the user
-    bool magCalDenied = !use_compass() || !firstMagYawInit || (frontend._magCal == 2) || onGround;
+    // Deny mag calibration request if we aren't using the compass or it has been inhibited by the user
+    bool magCalDenied = !use_compass() || (frontend._magCal == 2);
 
     // Inhibit the magnetic field calibration if not requested or denied
     inhibitMagStates = (!magCalRequested || magCalDenied);