Baro: update climb rate only if healthy

10 years ago · 5732a6a144
1 changed files with 3 additions and 1 deletions
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@ -347,7 +347,9 @@ void AP_Baro::update(void)
				@@ -347,7 +347,9 @@ void AP_Baro::update(void)
    }

    // ensure the climb rate filter is updated
-    _climb_rate_filter.update(get_altitude(), get_last_update());
+    if (healthy()) {
+        _climb_rate_filter.update(get_altitude(), get_last_update());
+    }
 }

 /*