From adfd1b2579ad786686180505dcb232cf6e3dd1ba Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 1 Jul 2015 23:55:20 -0700
Subject: [PATCH] sensors: Ensure data is good before publishing

---
 src/modules/sensors/sensors.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 9ce4b1f570..92c9eb511c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -2187,6 +2187,8 @@ Sensors::task_main()
 
 	_task_should_exit = false;
 
+	raw.timestamp = 0;
+
 	while (!_task_should_exit) {
 
 		/* wait for up to 50ms for data */
@@ -2229,7 +2231,7 @@ Sensors::task_main()
 		diff_pres_poll(raw);
 
 		/* Inform other processes that new data is available to copy */
-		if (_publishing) {
+		if (_publishing && raw.timestamp > 0) {
 			orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
 		}