diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index f2a5596ef8..e2d5a98a2e 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -1210,13 +1210,31 @@ void Ekf::stopMag3DFusion()
 	// save covariance data for re-use if currently doing 3-axis fusion
 	if (_control_status.flags.mag_3D) {
 		saveMagCovData();
+
 		_control_status.flags.mag_3D = false;
+		_control_status.flags.mag_dec = false;
+
+		_mag_innov.zero();
+		_mag_innov_var.zero();
+		_mag_test_ratio.zero();
+
+		_fault_status.flags.bad_mag_x = false;
+		_fault_status.flags.bad_mag_y = false;
+		_fault_status.flags.bad_mag_z = false;
+
+		_fault_status.flags.bad_mag_decl = false;
 	}
 }
 
 void Ekf::stopMagHdgFusion()
 {
-	_control_status.flags.mag_hdg = false;
+	if (_control_status.flags.mag_hdg) {
+		_control_status.flags.mag_hdg = false;
+
+		_fault_status.flags.bad_hdg = false;
+
+		_yaw_test_ratio = 0.f;
+	}
 }
 
 void Ekf::startMagHdgFusion()
@@ -1231,7 +1249,11 @@ void Ekf::startMagHdgFusion()
 void Ekf::startMag3DFusion()
 {
 	if (!_control_status.flags.mag_3D) {
+
 		stopMagHdgFusion();
+
+		_yaw_test_ratio = 0.0f;
+
 		zeroMagCov();
 		loadMagCovData();
 		_control_status.flags.mag_3D = true;
diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
index 317744da17..709deeeec6 100644
--- a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+++ b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
@@ -146,9 +146,6 @@ void Ekf::fuseGpsYaw()
 	// innovation test ratio
 	_yaw_test_ratio = sq(_heading_innov) / (sq(innov_gate) * _heading_innov_var);
 
-	// we are no longer using 3-axis fusion so set the reported test levels to zero
-	_mag_test_ratio.setZero();
-
 	if (_yaw_test_ratio > 1.0f) {
 		_innov_check_fail_status.flags.reject_yaw = true;
 		return;
diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp
index 3c11b817cf..386ca3f093 100644
--- a/src/modules/ekf2/EKF/mag_fusion.cpp
+++ b/src/modules/ekf2/EKF/mag_fusion.cpp
@@ -195,9 +195,6 @@ bool Ekf::fuseMag(const Vector3f &mag, bool update_all_states)
 		}
 	}
 
-	// we are no longer using heading fusion so set the reported test level to zero
-	_yaw_test_ratio = 0.0f;
-
 	// if any axis fails, abort the mag fusion
 	if (!all_innovation_checks_passed) {
 		return false;
@@ -665,9 +662,6 @@ bool Ekf::updateQuaternion(const float innovation, const float variance, const f
 	// innovation test ratio
 	_yaw_test_ratio = sq(innovation) / (sq(gate_sigma) * _heading_innov_var);
 
-	// we are no longer using 3-axis fusion so set the reported test levels to zero
-	_mag_test_ratio.setZero();
-
 	// set the magnetometer unhealthy if the test fails
 	if (_yaw_test_ratio > 1.0f) {
 		_innov_check_fail_status.flags.reject_yaw = true;