diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 0c3fb177f4..2fb368c602 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -2122,7 +2122,7 @@ void NavEKF3_core::calcTiltErrorVariance()
     const ftype &q2 = stateStruct.quat[2];
     const ftype &q3 = stateStruct.quat[3];
 
-    // equations generated by quaternion_error_propagation(): in AP_NavEKF3/derivation/main.py
+    // equations generated by quaternion_error_propagation(): in derivation/generate_2.py
     // only diagonals have been used
     // dq0 ... dq3  terms have been zeroed
     const ftype PS1 = q0*q1 + q2*q3;
diff --git a/libraries/AP_NavEKF3/derivation/generate_1.py b/libraries/AP_NavEKF3/derivation/generate_1.py
index 46e8722508..fcdd3db236 100755
--- a/libraries/AP_NavEKF3/derivation/generate_1.py
+++ b/libraries/AP_NavEKF3/derivation/generate_1.py
@@ -678,8 +678,8 @@ def generate_code():
 
 
     # derive autocode for other methods
-    print('Computing tilt error covariance matrix ...')
-    quaternion_error_propagation()
+    # print('Computing tilt error covariance matrix ...')
+    # quaternion_error_propagation()
     # print('Generating heading observation code ...')
     # yaw_observation(P,state,R_to_earth)
     print('Generating gps heading observation code ...')
diff --git a/libraries/AP_NavEKF3/derivation/generate_2.py b/libraries/AP_NavEKF3/derivation/generate_2.py
index 1c4e4fc759..d7f053d5c4 100755
--- a/libraries/AP_NavEKF3/derivation/generate_2.py
+++ b/libraries/AP_NavEKF3/derivation/generate_2.py
@@ -665,8 +665,8 @@ def generate_code():
 
 
     # derive autocode for other methods
-    # print('Computing tilt error covariance matrix ...')
-    # quaternion_error_propagation()
+    print('Computing tilt error covariance matrix ...')
+    quaternion_error_propagation()
     print('Generating heading observation code ...')
     yaw_observation(P,state,R_to_earth)
     # print('Generating gps heading observation code ...')