diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
index 6e3b5d2988..520eac4f2f 100644
--- a/sw/airborne/modules/sensors/baro_ets.c
+++ b/sw/airborne/modules/sensors/baro_ets.c
@@ -134,12 +134,13 @@ void baro_ets_read_event( void ) {
         baro_ets_offset_tmp += baro_ets_adc;
     }
     // Convert raw to m/s
-    if (baro_ets_offset_init)
+    if (baro_ets_offset_init) {
       baro_ets_altitude = ground_alt + BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
-    else
+      // New value available
+      EstimatorSetAlt(baro_ets_altitude);
+    } else {
       baro_ets_altitude = 0.0;
-    // New value available
-    EstimatorSetAlt(baro_ets_altitude);
+    }
   } else {
     baro_ets_altitude = 0.0;
   }