From 1414d591cef822eb4dcc51f9f23db92d06fc1a4a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 4 Mar 2016 17:51:32 +1100
Subject: [PATCH] EKF: Fix bug in declination fusion indexing

---
 EKF/mag_fusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 2a2d40bfe1..e9ece63384 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -852,7 +852,7 @@ void Ekf::fuseDeclination()
 	float KH[_k_num_states][_k_num_states] = {};
 
 	for (unsigned row = 0; row < _k_num_states; row++) {
-		for (unsigned column = 16; column < 17; column++) {
+		for (unsigned column = 16; column <= 17; column++) {
 			KH[row][column] = Kfusion[row] * H_DECL[column];
 		}
 	}