diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index ffe380dc68..c9d8888879 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -85,9 +85,9 @@ bool Ekf::update()
 	// measurement updates
 
 	if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
-		//fuseHeading();
-		fuseMag(_mag_fuse_index);
-		_mag_fuse_index = (_mag_fuse_index + 1) % 3;
+		fuseHeading();
+		//fuseMag(_mag_fuse_index);
+		//_mag_fuse_index = (_mag_fuse_index + 1) % 3;
 	}
 
 	if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
diff --git a/EKF/estimator_base.cpp b/EKF/estimator_base.cpp
index 20b293bdea..ed88c1f8a8 100644
--- a/EKF/estimator_base.cpp
+++ b/EKF/estimator_base.cpp
@@ -311,7 +311,7 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
 	_gps_speed_valid = false;
 
 	_mag_healthy = false;
-	_in_air = true;			// XXX get this flag from the application
+	_in_air = false;			// XXX get this flag from the application
 
 	_time_last_imu = 0;
 	_time_last_gps = 0;