From 6328a7233f24f0ef72d0e6d7499defe901356d40 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 10 Jul 2018 13:12:49 +1000
Subject: [PATCH] AP_OSD: cope with no EKF for vspeed

---
 libraries/AP_OSD/AP_OSD_Screen.cpp | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_OSD/AP_OSD_Screen.cpp b/libraries/AP_OSD/AP_OSD_Screen.cpp
index 7e3bc9247b..2d8b735c7a 100644
--- a/libraries/AP_OSD/AP_OSD_Screen.cpp
+++ b/libraries/AP_OSD/AP_OSD_Screen.cpp
@@ -629,8 +629,12 @@ void AP_OSD_Screen::draw_aspeed(uint8_t x, uint8_t y)
 void AP_OSD_Screen::draw_vspeed(uint8_t x, uint8_t y)
 {
     Vector3f v;
-    AP::ahrs().get_velocity_NED(v);
-    float vspd = -v.z;
+    float vspd;
+    if (AP::ahrs().get_velocity_NED(v)) {
+        vspd = -v.z;
+    } else {
+        vspd = AP::baro().get_climb_rate();
+    }
     char sym;
     if (vspd > 3.0f) {
         sym = SYM_UP_UP;