Baro: update climb rate only if healthy

2015-07-29 14:47:51 +09:00 · 2015-07-29 14:47:51 +09:00 · d2f7c21eb3
commit d2f7c21eb3
parent cb9cb7fdc4
1 changed files with 3 additions and 1 deletions
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@ -347,7 +347,9 @@ void AP_Baro::update(void)
    }

    // ensure the climb rate filter is updated
-    _climb_rate_filter.update(get_altitude(), get_last_update());
+    if (healthy()) {
+        _climb_rate_filter.update(get_altitude(), get_last_update());
+    }
 }

 /*