From d2f7c21eb30df9c6e0c37a075510a75605d175b3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 29 Jul 2015 14:47:51 +0900
Subject: [PATCH] Baro: update climb rate only if healthy

---
 libraries/AP_Baro/AP_Baro.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 9f287d92a5..ffc6d8977a 100644
--- 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());
+    }
 }
 
 /*