From b7350118a6ee19265adb79eee6a6eb4723fff5a5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 13 Apr 2014 19:42:49 +1000
Subject: [PATCH] AP_AHRS: enable EKF wind estimate with no airspeed sensor

EKF can now estimate with IMU and GPS only

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index cb19b212b3..3bd7d5793b 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -122,7 +122,7 @@ float AP_AHRS_NavEKF::get_error_yaw(void)
 // return a wind estimation vector, in m/s
 Vector3f AP_AHRS_NavEKF::wind_estimate(void)
 {
-    if (!using_EKF() || !_airspeed || !_airspeed->use()) {
+    if (!using_EKF()) {
         // EKF does not estimate wind speed when there is no airspeed
         // sensor active
         return AP_AHRS_DCM::wind_estimate();