From 596b8220e2453fb9a8712e19e75d20eef0eed2a3 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 31 Jul 2017 17:28:49 +1000
Subject: [PATCH] EKF: Output mag sensor isolation warning first time only

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

diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index e5a4baa732..3dc01d9e9f 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -372,7 +372,7 @@ bool Ekf::realignYawGPS()
 			ECL_WARN("EKF bad yaw corrected using GPS course");
 
 			// declare the magnetomer as failed if a bad yaw has occurred more than once
-			if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2)) {
+			if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
 				ECL_WARN("EKF stopping magnetometer use");
 				_control_status.flags.mag_fault = true;
 			}