diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 609738b18..6618fc6f8 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -91,8 +91,8 @@ void LevenbergMarquardtOptimizer::increaseLambda(double stepQuality){
   }else{
     state_.lambda *= params_.lambdaFactor;
     params_.lambdaFactor *= 2.0;
-    // reuse_diagonal_ = true;
   }
+  params_.reuse_diagonal_ = true;
 }
 
 /* ************************************************************************* */
@@ -104,9 +104,10 @@ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality){
     // CHECK_GT(step_quality, 0.0);
     state_.lambda *= std::max(1.0 / 3.0, 1.0 - pow(2.0 * stepQuality - 1.0, 3));
     params_.lambdaFactor = 2.0;
-    // reuse_diagonal_ = false;
   }
   state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda);
+  params_.reuse_diagonal_ = false;
+
 }
 
 /* ************************************************************************* */
@@ -195,6 +196,8 @@ void LevenbergMarquardtOptimizer::iterate() {
       // Solve Damped Gaussian Factor Graph
       const VectorValues delta = solve(dampedSystem, state_.values, params_);
 
+      params_.reuse_diagonal_ = true;
+
       if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "linear delta norm = " << delta.norm() << endl;
       if (lmVerbosity >= LevenbergMarquardtParams::TRYDELTA) delta.print("delta");