From 8b17d329942200ad258ceeb397f7acae16652d89 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 12 Aug 2015 14:59:58 -0700
Subject: [PATCH] NavEKF: check baro health before consuming

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

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index fc9b5ab657..b171226b96 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4269,7 +4269,7 @@ void NavEKF::readGpsData()
 void NavEKF::readHgtData()
 {
     // check to see if baro measurement has changed so we know if a new measurement has arrived
-    if (_baro.get_last_update() != lastHgtMeasTime) {
+    if (_baro.healthy() && _baro.get_last_update() != lastHgtMeasTime) {
         // Don't use Baro height if operating in optical flow mode as we use range finder instead
         if (_fusionModeGPS == 3 && _altSource == 1) {
             if ((imuSampleTime_ms - rngValidMeaTime_ms) < 2000) {