diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 1d0224caa8..58d76c0554 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -89,9 +89,9 @@ 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)) {