From 94ff7522fc802ba978e8bc8982558c3ccd1571a5 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 5 Mar 2014 18:52:42 +1100
Subject: [PATCH] AP_NavEKF : Fix bug in initial East mag field state variance

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index c4cff9cca3..82ff01808d 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -2420,7 +2420,7 @@ void NavEKF::CovarianceInit(float roll, float pitch, float yaw)
     P[15][15]  = P[14][14];
 	// NED magnetic field
     P[16][16] = sq(0.02f);
-    P[17][17] = P[16][15];
+    P[17][17] = P[16][16];
     P[18][18] = P[16][16];
 	// XYZ magnetic field
     P[19][19] = sq(0.02f);