From 74813e7761ac14cc9ecdf14b15d9d75d4164c715 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 8 Dec 2020 14:04:53 +1100
Subject: [PATCH] AP_Periph: stop sending airspeed when unhealthy

---
 Tools/AP_Periph/msp.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Tools/AP_Periph/msp.cpp b/Tools/AP_Periph/msp.cpp
index 6fe7e75599..3d44680ba3 100644
--- a/Tools/AP_Periph/msp.cpp
+++ b/Tools/AP_Periph/msp.cpp
@@ -175,6 +175,11 @@ void AP_Periph_FW::send_msp_airspeed(void)
     if (msp.last_airspeed_ms == last_update_ms) {
         return;
     }
+    if (!airspeed.healthy()) {
+        // we don't report at all for an unhealthy sensor. This maps
+        // to unhealthy in the flight controller driver
+        return;
+    }
     msp.last_airspeed_ms = last_update_ms;
 
     p.instance = 0;