diff --git a/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde b/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
index c7328f08cf..17763284cb 100644
--- a/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
+++ b/libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde
@@ -12,6 +12,7 @@
 #include <AP_ADC.h>             // ArduPilot Mega Analog to Digital Converter Library
 #include <AP_ADC_AnalogSource.h>
 #include <AP_Baro.h>            // ArduPilot Mega Barometer Library
+#include <AP_Baro_Glitch.h>     // Baro glitch protection library
 #include <Filter.h>
 #include <AP_Compass.h>         // ArduPilot Mega Magnetometer Library
 #include <AP_Declination.h>
@@ -28,8 +29,8 @@
 #include <AP_Mission.h>
 #include <AP_Terrain.h>
 #include <AP_Notify.h>
-
 #include <AP_InertialNav.h>
+
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
@@ -46,11 +47,12 @@ AP_Baro_BMP085 baro;
 
 AP_GPS gps;
 GPS_Glitch   gps_glitch(gps);
+Baro_Glitch baro_glitch(baro);
 
 AP_Compass_HMC5843 compass;
 AP_AHRS_DCM ahrs(ins, baro, gps);
 
-AP_InertialNav inertialnav(ahrs, baro, gps_glitch);
+AP_InertialNav inertialnav(ahrs, baro, gps_glitch, baro_glitch);
 
 uint32_t last_update;