From f08aee0a7dab450252935c562c2d16125744336d Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 4 Jun 2016 00:36:07 +1000
Subject: [PATCH] EKF: Fix covariance index bug

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

diff --git a/EKF/control.cpp b/EKF/control.cpp
index 63288eec45..9266315cec 100644
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@@ -306,7 +306,7 @@ void Ekf::controlHeightSensorTimeouts()
 		_time_bad_vert_accel =  _time_last_imu;
 	}
 
-	if ((P[8][8] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
+	if ((P[9][9] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
 		// boolean that indicates we will do a height reset
 		bool reset_height = false;