diff --git a/src/modules/ekf2/EKF/mag_3d_control.cpp b/src/modules/ekf2/EKF/mag_3d_control.cpp
index 8d182da7d9..79ed2b6c9d 100644
--- a/src/modules/ekf2/EKF/mag_3d_control.cpp
+++ b/src/modules/ekf2/EKF/mag_3d_control.cpp
@@ -90,11 +90,10 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 
 	// if we are using 3-axis magnetometer fusion, but without external NE aiding,
 	// then the declination must be fused as an observation to prevent long term heading drift
-	// fusing declination when gps aiding is available is optional, but recommended to prevent
-	// problem if the vehicle is static for extended periods of time
+	// fusing declination when gps aiding is available is optional.
 	const bool mag_decl_user_selected = (_params.mag_declination_source & GeoDeclinationMask::FUSE_DECL);
-	const bool not_using_ne_aiding = !_control_status.flags.gps;
-	_control_status.flags.mag_dec = (_control_status.flags.mag && (not_using_ne_aiding || mag_decl_user_selected));
+	const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
+	_control_status.flags.mag_dec = (_control_status.flags.mag && ((not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight) || mag_decl_user_selected));
 
 	if (_control_status.flags.mag) {
 		aid_src.timestamp_sample = mag_sample.time_us;
@@ -120,7 +119,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 					// The normal sequence is to fuse the magnetometer data first before fusing
 					// declination angle at a higher uncertainty to allow some learning of
 					// declination angle over time.
-					const bool update_all_states = _control_status.flags.mag_3D || (_control_status.flags.mag_hdg && (getYawVar() > sq(_params.mag_heading_noise / 2.f)));
+					const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
 					const bool update_tilt = _control_status.flags.mag_3D;
 					fuseMag(mag_sample.mag, aid_src, update_all_states, update_tilt);
 
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 396ba96515..ebeae0e8e1 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -484,7 +484,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
  * @bit 2 use declination as an observation
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
+PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 3);
 
 /**
  * Type of magnetometer fusion