diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index 501e0fab88..1ec47590cc 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/sw/airborne/boards/ardrone/navdata.c
@@ -267,6 +267,8 @@ static void baro_update_logic(void)
 {
   static int32_t lastpressval = 0;
   static uint16_t lasttempval = 0;
+  static int32_t lastpressval_nospike = 0;
+  static uint16_t lasttempval_nospike = 0;
   static uint8_t temp_or_press_was_updated_last = 0; // 0 = press, so we now wait for temp, 1 = temp so we now wait for press
 
   static int sync_errors = 0;
@@ -311,11 +313,7 @@ static void baro_update_logic(void)
       }
     }
 
-
-    if (spike_detected == 0)
-    {
-      navdata_baro_available = TRUE;
-    }
+    navdata_baro_available = TRUE;
   }
 
   /*
@@ -333,10 +331,32 @@ static void baro_update_logic(void)
    * reading them too quickly (trying to catch up for delay that happened earlier due to still non understood
    * reasons. As pressure is more likely to quickly change, a small (yet unlikely) spike on temperature together with
    * press==temp yields very good results as a detector, although theoretically not perfect.
+
+#sample press temp
+50925  39284 34501
+50926 39287 34501
+50927 39287 34501   0 0
+50928 39283 34501   0 -4
+50929 39283 34501   0 0
+50930 39285 34501   0 2
+50931 39285 34500   -1  0
+50932 34500 34500   0 -4785
+50933 34500 36618   2118  0
+50934 39284 36618   0 4784
+50935 39284 34501   -2117 0
+50936 39284 34501   0 0
+50937 39284 34500   -1  0
+50938 39281 34500   0 -3
+50939 39281 34500   0 0
+50940 39280 34500   0 -1
+50941 39280 34502   2 0
+50942 39280 34502   0 0
+50943 39280 34501   -1  0
+
    */
 
   // if press and temp are same and temp has jump: neglect the next frame
-  if ((navdata.temperature_pressure == navdata.pressure) && (abs(navdata.temperature_pressure - lasttempval) > 40))
+  if (navdata.temperature_pressure == navdata.pressure) // && (abs(navdata.temperature_pressure - lasttempval) > 40))
   {
     // dont use next 3 packets
     spike_detected = 3;
@@ -346,11 +366,36 @@ static void baro_update_logic(void)
     spikes++;
     printf("Spike! # %d\n",spikes);
   }
-  if (spike_detected)
-    spike_detected--;
 
   lastpressval = navdata.pressure;
   lasttempval = navdata.temperature_pressure;
+
+  if (spike_detected == 3) // Pressure is wrong
+  {
+    // override press
+    navdata.pressure = lastpressval_nospike;
+
+    lasttempval_nospike = navdata.temperature_pressure;
+  }
+  else if (spike_detected == 2) // both are wrong
+  {
+    // override both
+    navdata.pressure = lastpressval_nospike;
+    navdata.temperature_pressure = lasttempval_nospike;
+  }
+  else if (spike_detected == 1) // temp is still wrong
+  {
+    lastpressval_nospike = navdata.pressure;
+    navdata.temperature_pressure = lasttempval_nospike;
+  }
+  else // both are good
+  {
+    lastpressval_nospike = navdata.pressure;
+    lasttempval_nospike = navdata.temperature_pressure;
+  }
+
+  if (spike_detected)
+    spike_detected--;
 }
 
 void navdata_update()