From 685b28f51d45eb8dd2a96fccba7d4c6847d9cd7c Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 14 Jul 2017 16:23:57 -0700
Subject: [PATCH] AP_Baro: Avoid a FPE when ground pressure is negative

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

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index ef2552dc39..b1695d1fcb 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -523,7 +523,7 @@ void AP_Baro::update(void)
         if (sensors[i].healthy) {
             // update altitude calculation
             float ground_pressure = sensors[i].ground_pressure;
-            if (is_zero(ground_pressure) || isnan(ground_pressure) || isinf(ground_pressure)) {
+            if (!is_positive(ground_pressure) || isnan(ground_pressure) || isinf(ground_pressure)) {
                 sensors[i].ground_pressure = sensors[i].pressure;
             }
             float altitude = sensors[i].altitude;