diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index b4b38272f6..172d9bbffc 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -773,8 +773,8 @@ void NavEKF3_core::readAirSpdData()
     // know a new measurement is available
     const AP_Airspeed *aspeed = _ahrs->get_airspeed();
     if (aspeed &&
-            aspeed->use() &&
-            (aspeed->last_update_ms() - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
+        aspeed->use() && aspeed->healthy() &&
+        (aspeed->last_update_ms() - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
         tasDataNew.tas = aspeed->get_raw_airspeed() * AP::ahrs().get_EAS2TAS();
         timeTasReceived_ms = aspeed->last_update_ms();
         tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;