diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
index 79e18027ac..dab013b5e6 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
@@ -120,7 +120,7 @@ void NavEKF3_core::FuseAirspeed()
             zero_range(&Kfusion[0], 16, 21);
         }
 
-        if (tasDataDelayed.allowFusion && !inhibitWindStates) {
+        if (tasDataDelayed.allowFusion && !inhibitWindStates && !treatWindStatesAsTruth) {
             Kfusion[22] = SK_TAS[0]*(P[22][4]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][5]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][6]*vd*SH_TAS[0]);
             Kfusion[23] = SK_TAS[0]*(P[23][4]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][5]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][6]*vd*SH_TAS[0]);
         } else {
@@ -420,7 +420,7 @@ void NavEKF3_core::FuseSideslip()
             zero_range(&Kfusion[0], 16, 21);
         }
 
-        if (!inhibitWindStates) {
+        if (!inhibitWindStates && !treatWindStatesAsTruth) {
             Kfusion[22] = SK_BETA[0]*(P[22][0]*SK_BETA[5] + P[22][1]*SK_BETA[4] - P[22][4]*SK_BETA[1] + P[22][5]*SK_BETA[2] + P[22][2]*SK_BETA[6] + P[22][6]*SK_BETA[3] - P[22][3]*SK_BETA[7] + P[22][22]*SK_BETA[1] - P[22][23]*SK_BETA[2]);
             Kfusion[23] = SK_BETA[0]*(P[23][0]*SK_BETA[5] + P[23][1]*SK_BETA[4] - P[23][4]*SK_BETA[1] + P[23][5]*SK_BETA[2] + P[23][2]*SK_BETA[6] + P[23][6]*SK_BETA[3] - P[23][3]*SK_BETA[7] + P[23][22]*SK_BETA[1] - P[23][23]*SK_BETA[2]);
         } else {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
index e8b635e560..19dfd91b1f 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
@@ -642,7 +642,7 @@ void NavEKF3_core::FuseMagnetometer()
             }
 
             // zero Kalman gains to inhibit wind state estimation
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] - P[22][2]*SH_MAG[1] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[4] - P[22][18]*SK_MX[3]);
                 Kfusion[23] = SK_MX[0]*(P[23][19] + P[23][1]*SH_MAG[0] - P[23][2]*SH_MAG[1] + P[23][3]*SH_MAG[2] + P[23][0]*SK_MX[2] - P[23][16]*SK_MX[1] + P[23][17]*SK_MX[4] - P[23][18]*SK_MX[3]);
             } else {
@@ -725,7 +725,7 @@ void NavEKF3_core::FuseMagnetometer()
             }
 
             // zero Kalman gains to inhibit wind state estimation
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
                 Kfusion[23] = SK_MY[0]*(P[23][20] + P[23][0]*SH_MAG[2] + P[23][1]*SH_MAG[1] + P[23][2]*SH_MAG[0] - P[23][3]*SK_MY[2] - P[23][17]*SK_MY[1] - P[23][16]*SK_MY[3] + P[23][18]*SK_MY[4]);
             } else {
@@ -809,7 +809,7 @@ void NavEKF3_core::FuseMagnetometer()
             }
 
             // zero Kalman gains to inhibit wind state estimation
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] - P[22][1]*SH_MAG[2] + P[22][3]*SH_MAG[0] + P[22][2]*SK_MZ[2] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[4] - P[22][17]*SK_MZ[3]);
                 Kfusion[23] = SK_MZ[0]*(P[23][21] + P[23][0]*SH_MAG[1] - P[23][1]*SH_MAG[2] + P[23][3]*SH_MAG[0] + P[23][2]*SK_MZ[2] + P[23][18]*SK_MZ[1] + P[23][16]*SK_MZ[4] - P[23][17]*SK_MZ[3]);
             } else {
@@ -1345,7 +1345,7 @@ void NavEKF3_core::FuseDeclination(ftype declErr)
         zero_range(&Kfusion[0], 16, 21);
     }
 
-    if (!inhibitWindStates) {
+    if (!inhibitWindStates && !treatWindStatesAsTruth) {
         Kfusion[22] = -t4*t13*(P[22][16]*magE-P[22][17]*magN);
         Kfusion[23] = -t4*t13*(P[23][16]*magE-P[23][17]*magN);
     } else {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
index e457bf7a03..84dd164bac 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
@@ -491,7 +491,7 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus
                 zero_range(&Kfusion[0], 16, 21);
             }
 
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = t78*(P[22][0]*t2*t5-P[22][4]*t2*t7+P[22][1]*t2*t15+P[22][6]*t2*t10+P[22][2]*t2*t19-P[22][3]*t2*t22+P[22][5]*t2*t27);
                 Kfusion[23] = t78*(P[23][0]*t2*t5-P[23][4]*t2*t7+P[23][1]*t2*t15+P[23][6]*t2*t10+P[23][2]*t2*t19-P[23][3]*t2*t22+P[23][5]*t2*t27);
             } else {
@@ -668,7 +668,7 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus
                 zero_range(&Kfusion[0], 16, 21);
             }
 
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = -t78*(P[22][0]*t2*t5+P[22][5]*t2*t8-P[22][6]*t2*t10+P[22][1]*t2*t16-P[22][2]*t2*t19+P[22][3]*t2*t22+P[22][4]*t2*t27);
                 Kfusion[23] = -t78*(P[23][0]*t2*t5+P[23][5]*t2*t8-P[23][6]*t2*t10+P[23][1]*t2*t16-P[23][2]*t2*t19+P[23][3]*t2*t22+P[23][4]*t2*t27);
             } else {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 13e086e0d5..e995a9e30c 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1046,7 +1046,7 @@ void NavEKF3_core::FuseVelPosNED()
                 }
 
                 // inhibit wind state estimation by setting Kalman gains to zero
-                if (!inhibitWindStates) {
+                if (!inhibitWindStates && !treatWindStatesAsTruth) {
                     Kfusion[22] = P[22][stateIndex]*SK;
                     Kfusion[23] = P[23][stateIndex]*SK;
                 } else {
@@ -1563,7 +1563,7 @@ void NavEKF3_core::FuseBodyVel()
                 zero_range(&Kfusion[0], 16, 21);
             }
 
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = t77*(P[22][5]*t4+P[22][4]*t9+P[22][0]*t14-P[22][6]*t11+P[22][1]*t18-P[22][2]*t21+P[22][3]*t24);
                 Kfusion[23] = t77*(P[23][5]*t4+P[23][4]*t9+P[23][0]*t14-P[23][6]*t11+P[23][1]*t18-P[23][2]*t21+P[23][3]*t24);
             } else {
@@ -1740,7 +1740,7 @@ void NavEKF3_core::FuseBodyVel()
                 zero_range(&Kfusion[0], 16, 21);
             }
 
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = t77*(-P[22][4]*t3+P[22][5]*t8+P[22][0]*t15+P[22][6]*t12+P[22][1]*t18+P[22][2]*t22-P[22][3]*t25);
                 Kfusion[23] = t77*(-P[23][4]*t3+P[23][5]*t8+P[23][0]*t15+P[23][6]*t12+P[23][1]*t18+P[23][2]*t22-P[23][3]*t25);
             } else {
@@ -1918,7 +1918,7 @@ void NavEKF3_core::FuseBodyVel()
                 zero_range(&Kfusion[0], 16, 21);
             }
 
-            if (!inhibitWindStates) {
+            if (!inhibitWindStates && !treatWindStatesAsTruth) {
                 Kfusion[22] = t77*(P[22][4]*t4+P[22][0]*t14+P[22][6]*t9-P[22][5]*t11-P[22][1]*t17+P[22][2]*t20+P[22][3]*t24);
                 Kfusion[23] = t77*(P[23][4]*t4+P[23][0]*t14+P[23][6]*t9-P[23][5]*t11-P[23][1]*t17+P[23][2]*t20+P[23][3]*t24);
             } else {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index 92a2ba4eec..f3b332dbf1 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -234,7 +234,7 @@ void NavEKF3_core::FuseRngBcn()
             zero_range(&Kfusion[0], 16, 21);
         }
 
-        if (!inhibitWindStates) {
+        if (!inhibitWindStates && !treatWindStatesAsTruth) {
             Kfusion[22] = -t26*(P[22][7]*t4*t9+P[22][8]*t3*t9+P[22][9]*t2*t9);
             Kfusion[23] = -t26*(P[23][7]*t4*t9+P[23][8]*t3*t9+P[23][9]*t2*t9);
         } else {
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index f608f6d4d2..428130028f 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -270,6 +270,7 @@ void NavEKF3_core::InitialiseVariables()
     inhibitWindStates = true;
     windStateLastObs.zero();
     windStateIsObservable = false;
+    treatWindStatesAsTruth = false;
     windStateLastObsIsValid = false;
     windStatesAligned = false;
     inhibitDelVelBiasStates = true;
@@ -1085,8 +1086,8 @@ void NavEKF3_core::CovariancePrediction(Vector3F *rotVarVecPtr)
 
     if (!inhibitWindStates) {
         const bool isDragFusionDeadReckoning = filterStatus.flags.dead_reckoning && !dragTimeout;
-        if (isDragFusionDeadReckoning) {
-            // when dead reckoning using drag fusion stop learning wind states to provide a more stable velocity estimate
+        treatWindStatesAsTruth = isDragFusionDeadReckoning || !windStateIsObservable;
+        if (treatWindStatesAsTruth) {
             P[23][23] = P[22][22] = 0.0f;
         } else {
 	        ftype windVelVar  = sq(dt * constrain_ftype(frontend->_windVelProcessNoise, 0.0f, 1.0f) * (1.0f + constrain_ftype(frontend->_wndVarHgtRateScale, 0.0f, 1.0f) * fabsF(hgtRate)));
@@ -1946,7 +1947,11 @@ void NavEKF3_core::ConstrainVariances()
     }
 
     if (!inhibitWindStates) {
-        for (uint8_t i=22; i<=23; i++) P[i][i] = constrain_ftype(P[i][i],0.0f,WIND_VEL_VARIANCE_MAX);
+        if (treatWindStatesAsTruth) {
+            P[23][23] = P[22][22] = 0.0f;
+        } else {
+            for (uint8_t i=22; i<=23; i++) P[i][i] = constrain_ftype(P[i][i],0.0f,WIND_VEL_VARIANCE_MAX);
+        }
     } else {
         zeroCols(P,22,23);
         zeroRows(P,22,23);
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 69cbfb5acf..1282dd73f1 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1109,10 +1109,11 @@ private:
     ftype hgtTestRatio;             // sum of squares of baro height innovation divided by fail threshold
     Vector3F magTestRatio;          // sum of squares of magnetometer innovations divided by fail threshold
     ftype tasTestRatio;             // sum of squares of true airspeed innovation divided by fail threshold
-    bool inhibitWindStates;         // true when wind states and covariances are to remain constant
+    bool inhibitWindStates;         // true when wind states and covariances should not be used
     Vector2F windStateLastObs;      // wind states from the last time wind states were constrained using observations (m/s)
     bool windStateLastObsIsValid;
     bool windStateIsObservable;     // true when wind states are observable from measurements.
+    bool treatWindStatesAsTruth;    // true when wind states should be used as a truth reference
     bool windStatesAligned;         // true when wind states have been aligned
     bool inhibitMagStates;          // true when magnetic field states are inactive
     bool lastInhibitMagStates;      // previous inhibitMagStates