diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 671425d630..8f1e4b0f66 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -519,7 +519,6 @@ void Ekf::fuseYaw321(float yaw, float yaw_variance, bool zero_innovation)
 	if (zero_innovation) {
 		innovation = 0.0f;
 	} else {
-		Eulerf euler321(_state.quat_nominal);
 		innovation = wrap_pi(atan2f(_R_to_earth(1, 0), _R_to_earth(0, 0)) - measurement);
 	}