diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp index 5be05364f7d9..458ca5c1db48 100644 --- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp @@ -180,7 +180,7 @@ void Ekf::controlMagFusion() // if we are using 3-axis magnetometer fusion, but without external NE aiding, // then the declination must be fused as an observation to prevent long term heading drift - const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.mag_aligned_in_flight; + const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air; _control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff; if (_control_status.flags.mag) { diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 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