diff --git a/src/lib/mathlib/math/filter/FilteredDerivative.hpp b/src/lib/mathlib/math/filter/FilteredDerivative.hpp
index 09b1fd49777e..f0099334d2e7 100644
--- a/src/lib/mathlib/math/filter/FilteredDerivative.hpp
+++ b/src/lib/mathlib/math/filter/FilteredDerivative.hpp
@@ -89,6 +89,9 @@ class FilteredDerivative
 		if (_initialized) {
 			if (_sample_interval > FLT_EPSILON) {
 				_alpha_filter.update((sample - _previous_sample) / _sample_interval);
+
+			} else {
+				_initialized = false;
 			}
 
 		} else {