From 63f9acdaaaaf01c64b2852d978d676d144e885b6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 6 Jan 2021 08:28:39 +1100
Subject: [PATCH] AP_NavEKF2: only fuse airspeed if healthy

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 6e4ee699a2..e9b28f0a5a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -732,8 +732,8 @@ void NavEKF2_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) {
+        aspeed->use() && aspeed->healthy() &&
+        aspeed->last_update_ms() != timeTasReceived_ms) {
         tasDataNew.tas = aspeed->get_airspeed() * AP::ahrs().get_EAS2TAS();
         timeTasReceived_ms = aspeed->last_update_ms();
         tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;