From 4401cbec72afb3a2c1c0fc8135d891bfaaa275e7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Apr 2016 15:37:11 +1000
Subject: [PATCH] AP_InertialSensor: cope with zero delta angle time from
 Replay

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 2ce4fda8be..d939b55c9c 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1172,7 +1172,7 @@ float AP_InertialSensor::get_delta_velocity_dt(uint8_t i) const
  */
 float AP_InertialSensor::get_delta_angle_dt(uint8_t i) const
 {
-    if (_delta_angle_valid[i]) {
+    if (_delta_angle_valid[i] && _delta_angle_dt[i] > 0) {
         return _delta_angle_dt[i];
     }
     return get_delta_time();