From ea29b4528290797e5109c00431494021be8bd5f2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 14 Dec 2021 11:03:16 -0500
Subject: [PATCH] ekf2: enable mag check by default, but commander only warn

---
 src/modules/commander/commander_params.c | 2 +-
 src/modules/ekf2/ekf2_params.c           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 6016fc6275..368ea1afb8 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -648,7 +648,7 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_ANG, 45);
  *
  * @group Commander
  */
-PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 1);
+PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2);
 
 /**
  * Rearming grace period
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index ed42f6b989..29f7a56ac8 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -1358,7 +1358,7 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_GPS_H, 10.0f);
  * @group EKF2
  * @boolean
  */
-PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 0);
+PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 1);
 
 /**
  * Enable synthetic magnetometer Z component measurement.