From 06c2d14903468e120cc80a351724ecd85982b651 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 18 Aug 2021 15:53:33 -0400
Subject: [PATCH] ekf2: multi-mode allow first instance to save EKF2_MAG_DECL

---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 398266df86..178f065488 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1768,7 +1768,7 @@ void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
 				_param_ekf2_mag_decl.set(declination_deg);
 				_mag_decl_saved = true;
 
-				if (!_multi_mode) {
+				if (!_multi_mode || (_multi_mode && _instance == 0)) {
 					_param_ekf2_mag_decl.commit_no_notification();
 				}
 			}