From c03212674595df849a8a40b806fdcdcce367a1a5 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 4 Jan 2019 20:30:51 +1100
Subject: [PATCH] EKF: Fix bug causing incorrect yaw variance value to be used

This bug causes the variance of the Z axis rotation vector uncertainty to not be reset to the correct value.
---
 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 0e84690115..6bd63cbc30 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -729,7 +729,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
 	}
 
 	// update the yaw angle variance using the variance of the measurement
-	if (!_control_status.flags.ev_yaw) {
+	if (_control_status.flags.ev_yaw) {
 		// using error estimate from external vision data
 		angle_err_var_vec(2) = sq(fmaxf(_ev_sample_delayed.angErr, 1.0e-2f));