diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index fc280074b6..6236ad79b0 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -347,6 +347,7 @@ void AP_Airspeed::read(uint8_t i)
     if (!enabled(i) || !sensor[i]) {
         return;
     }
+    bool prev_healthy = state[i].healthy;
     float raw_pressure = get_pressure(i);
     if (state[i].cal.start_ms != 0) {
         update_calibration(i, raw_pressure);
@@ -358,7 +359,14 @@ void AP_Airspeed::read(uint8_t i)
     state[i].corrected_pressure = airspeed_pressure;
 
     // filter before clamping positive
-    state[i].filtered_pressure = 0.7f * state[i].filtered_pressure + 0.3f * airspeed_pressure;
+    if (!prev_healthy) {
+        // if the previous state was not healthy then we should not
+        // use an IIR filter, otherwise a bad reading will last for
+        // some time after the sensor becomees healthy again
+        state[i].filtered_pressure = airspeed_pressure;
+    } else {
+        state[i].filtered_pressure = 0.7f * state[i].filtered_pressure + 0.3f * airspeed_pressure;
+    }
 
     /*
       we support different pitot tube setups so user can choose if