From 0ededd7c62f9b14bcf7709be56e73d9fb267e0d7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Jul 2022 11:45:47 +1000
Subject: [PATCH] AP_AHRS: use wind from simulation if available with EKF type
 10

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

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 38ed227259..2d7ba00c24 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -822,7 +822,10 @@ Vector3f AP_AHRS::wind_estimate(void) const
 
 #if AP_AHRS_SIM_ENABLED
     case EKFType::SIM:
-        wind.zero();
+        if (_sitl) {
+            const auto &fdm = _sitl->state;
+            wind = fdm.wind_ef;
+        }
         break;
 #endif