diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 9d6e333bbd..d137fde1d7 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -755,8 +755,9 @@ void NavEKF2_core::readAirSpdData()
     // know a new measurement is available
     const auto *aspeed = dal.airspeed();
     if (aspeed &&
-            aspeed->use() &&
-            aspeed->last_update_ms() != timeTasReceived_ms) {
+        aspeed->use() &&
+        aspeed->healthy() &&
+        aspeed->last_update_ms() != timeTasReceived_ms) {
         tasDataNew.tas = aspeed->get_airspeed() * dal.get_EAS2TAS();
         timeTasReceived_ms = aspeed->last_update_ms();
         tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;