From f208986d4351ad34a63243756f71e991f226bdad Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Thu, 27 Apr 2017 16:39:49 +1000
Subject: [PATCH] AP_NavEKF3: Reset covariance if bad mag fusion update

---
 libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index 82ef731ef7..7f1dcfb195 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -695,6 +695,8 @@ void NavEKF3_core::FuseMagnetometer()
             } else if (obsIndex == 2) {
                 faultStatus.bad_zmag = true;
             }
+            CovarianceInit();
+            return;
         }
     }
 }