From 79b1d3018d5c19400bf6df16f578870e8f9c121c Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 12 Oct 2016 16:21:12 +1100
Subject: [PATCH] EKF: Fix magnetometer innovation test ratio reporting bug

---
 EKF/mag_fusion.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp
index 561c6b6793..07a0d6454a 100644
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@@ -155,6 +155,9 @@ void Ekf::fuseMag()
 		}
 	}
 
+	// 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 (!healthy) {
 		return;
@@ -608,6 +611,9 @@ void Ekf::fuseHeading()
 	// innovation test ratio
 	_yaw_test_ratio = sq(_heading_innov) / (sq(math::max(_params.heading_innov_gate, 1.0f)) * _heading_innov_var);
 
+	// we are no longer using 3-axis fusion so set the reported test levels to zero
+	memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio));
+
 	// set the magnetometer unhealthy if the test fails
 	if (_yaw_test_ratio > 1.0f) {
 		_innov_check_fail_status.flags.reject_yaw = true;