From b0a0f55881d8aaab3a11b85e1e7a47c160e2d1a7 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 9 Sep 2024 13:18:32 +0100
Subject: [PATCH] AP_Airspeed: healthy: check enabled first for instance range
 check

---
 libraries/AP_Airspeed/AP_Airspeed.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index b61bec4c9292a..397c5d1d6e91b 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -876,7 +876,10 @@ bool AP_Airspeed::enabled(uint8_t i) const {
 
 // return health status of sensor
 bool AP_Airspeed::healthy(uint8_t i) const {
-    bool ok = state[i].healthy && enabled(i) && sensor[i] != nullptr;
+    if (!enabled(i)) {
+        return false;
+    }
+    bool ok = state[i].healthy && sensor[i] != nullptr;
 #ifndef HAL_BUILD_AP_PERIPH
     // sanity check the offset parameter.  Zero is permitted if we are skipping calibration.
     ok &= (fabsf(param[i].offset) > 0 || state[i].use_zero_offset || param[i].skip_cal);