diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp
index ffc7a04b6d..bafdff4819 100644
--- a/EKF/airspeed_fusion.cpp
+++ b/EKF/airspeed_fusion.cpp
@@ -200,24 +200,19 @@ void Ekf::fuseAirspeed()
 
 		for (int i = 0; i < _k_num_states; i++) {
 			if (P(i,i) < KHP(i,i)) {
-				// zero rows and columns
 				P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-				//flag as unhealthy
 				healthy = false;
 
-				// update individual measurement health status
 				_fault_status.flags.bad_airspeed = true;
 
 			}
 		}
 
-		// only apply covariance and state corrections if healthy
 		if (healthy) {
 			// apply the covariance corrections
 			P -= KHP;
 
-			// correct the covariance matrix for gross errors
 			fixCovarianceErrors(true);
 
 			// apply the state corrections
diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp
index 4283420610..ac77da246c 100644
--- a/EKF/drag_fusion.cpp
+++ b/EKF/drag_fusion.cpp
@@ -274,28 +274,18 @@ void Ekf::fuseDrag()
 			// the covariance matrix is unhealthy and must be corrected
 			bool healthy = true;
 
-			//_fault_status.flags.bad_sideslip = false;
 			for (int i = 0; i < _k_num_states; i++) {
 				if (P(i,i) < KHP(i,i)) {
-					// zero rows and columns
 					P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-					//flag as unhealthy
 					healthy = false;
-
-					// update individual measurement health status
-					//_fault_status.flags.bad_sideslip = true;
-
 				}
 			}
 
-			// only apply covariance and state corrections if healthy
 			if (healthy) {
 				// apply the covariance corrections
 				P -= KHP;
 
-
-				// correct the covariance matrix for gross errors
 				fixCovarianceErrors(true);
 
 				// apply the state corrections
diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp
index 6a9a4f183e..934be677a3 100644
--- a/EKF/gps_yaw_fusion.cpp
+++ b/EKF/gps_yaw_fusion.cpp
@@ -245,25 +245,20 @@ void Ekf::fuseGpsAntYaw()
 
 	for (int i = 0; i < _k_num_states; i++) {
 		if (P(i,i) < KHP(i,i)) {
-			// zero rows and columns
 			P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-			//flag as unhealthy
 			healthy = false;
 
-			// update individual measurement health status
 			_fault_status.flags.bad_hdg = true;
 
 		}
 	}
 
-	// only apply covariance and state corrections if healthy
 	if (healthy) {
 		_time_last_gps_yaw_fuse = _time_last_imu;
 		// apply the covariance corrections
 		P -= KHP;
 
-		// correct the covariance matrix for gross errors
 		fixCovarianceErrors(true);
 
 		// apply the state corrections
diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 1325bd3f55..5534100e71 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -413,12 +413,10 @@ void Ekf::fuseMag()
 			}
 		}
 
-		// only apply covariance and state corrections if healthy
 		if (healthy) {
 			// apply the covariance corrections
 			P -= KHP;
 
-			// correct the covariance matrix for gross errors
 			fixCovarianceErrors(true);
 
 			// apply the state corrections
@@ -733,24 +731,19 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
 
 	for (int i = 0; i < _k_num_states; i++) {
 		if (P(i,i) < KHP(i,i)) {
-			// zero rows and columns
 			P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-			//flag as unhealthy
 			healthy = false;
 
-			// update individual measurement health status
 			_fault_status.flags.bad_hdg = true;
 
 		}
 	}
 
-	// only apply covariance and state corrections if healthy
 	if (healthy) {
 		// apply the covariance corrections
 		P -= KHP;
 
-		// correct the covariance matrix for gross errors
 		fixCovarianceErrors(true);
 
 		// apply the state corrections
@@ -1022,24 +1015,19 @@ void Ekf::fuseDeclination(float decl_sigma)
 	_fault_status.flags.bad_mag_decl = false;
 	for (int i = 0; i < _k_num_states; i++) {
 		if (P(i,i) < KHP(i,i)) {
-			// zero rows and columns
 			P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-			//flag as unhealthy
 			healthy = false;
 
-			// update individual measurement health status
 			_fault_status.flags.bad_mag_decl = true;
 
 		}
 	}
 
-	// only apply covariance and state corrections if healthy
 	if (healthy) {
 		// apply the covariance corrections
 		P -= KHP;
 
-		// correct the covariance matrix for gross errors
 		fixCovarianceErrors(true);
 
 		// apply the state corrections
diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp
index caa9916ac9..95ef19d369 100644
--- a/EKF/optflow_fusion.cpp
+++ b/EKF/optflow_fusion.cpp
@@ -475,13 +475,10 @@ void Ekf::fuseOptFlow()
 
 		for (int i = 0; i < _k_num_states; i++) {
 			if (P(i,i) < KHP(i,i)) {
-				// zero rows and columns
 				P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-				//flag as unhealthy
 				healthy = false;
 
-				// update individual measurement health status
 				if (obs_index == 0) {
 					_fault_status.flags.bad_optflow_X = true;
 
@@ -491,12 +488,10 @@ void Ekf::fuseOptFlow()
 			}
 		}
 
-		// only apply covariance and state corrections if healthy
 		if (healthy) {
 			// apply the covariance corrections
 			P -= KHP;
 
-			// correct the covariance matrix for gross errors
 			fixCovarianceErrors(true);
 
 			// apply the state corrections
diff --git a/EKF/sideslip_fusion.cpp b/EKF/sideslip_fusion.cpp
index ef5b5c9486..5526e59d2d 100644
--- a/EKF/sideslip_fusion.cpp
+++ b/EKF/sideslip_fusion.cpp
@@ -249,23 +249,18 @@ void Ekf::fuseSideslip()
 
 		for (int i = 0; i < _k_num_states; i++) {
 			if (P(i,i) < KHP(i,i)) {
-				// zero rows and columns
 				P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
 
-				//flag as unhealthy
 				healthy = false;
 
-				// update individual measurement health status
 				_fault_status.flags.bad_sideslip = true;
 			}
 		}
 
-		// only apply covariance and state corrections if healthy
 		if (healthy) {
 			// apply the covariance corrections
 			P -= KHP;
 
-			// correct the covariance matrix for gross errors
 			fixCovarianceErrors(true);
 
 			// apply the state corrections
diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index 8042e57dff..9f68e6a01c 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -187,12 +187,10 @@ void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int o
 		}
 	}
 
-	// only apply covariance and state corrections if healthy
 	if (healthy) {
 		// apply the covariance corrections
 		P -= KHP;
 
-		// correct the covariance matrix for gross errors
 		fixCovarianceErrors(true);
 
 		// apply the state corrections