diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 620185fb77..00bd23f838 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -477,6 +477,9 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 						dt = 0.005f;
 						parameters_update(&ekf_param_handles, &ekf_params);
 
+						/* update mag declination rotation matrix */
+						R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
+
 						x_aposteriori_k[0] = z_k[0];
 						x_aposteriori_k[1] = z_k[1];
 						x_aposteriori_k[2] = z_k[2];
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 8ba8f2ccbf..7f13df7854 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -350,12 +350,12 @@ private:
 	/*
 	 * Reset takeoff state
 	 */
-	int reset_takeoff_state();
+	void reset_takeoff_state();
 
 	/*
 	 * Reset landing state
 	 */
-	int reset_landing_state();
+	void reset_landing_state();
 };
 
 namespace l1_control
@@ -1312,14 +1312,14 @@ FixedwingPositionControl::task_main()
 	_exit(0);
 }
 
-int FixedwingPositionControl::reset_takeoff_state()
+void FixedwingPositionControl::reset_takeoff_state()
 {
 	launch_detected = false;
 	usePreTakeoffThrust = false;
 	launchDetector.reset();
 }
 
-int FixedwingPositionControl::reset_landing_state()
+void FixedwingPositionControl::reset_landing_state()
 {
 	land_noreturn_horizontal = false;
 	land_noreturn_vertical = false;