From c102270e722292accdae9914cefd4a10106b7557 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 10 May 2022 13:17:04 +0900
Subject: [PATCH] Copter: ekf_has_relative_position may use wind estimate

---
 ArduCopter/system.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 2b9632b565..97467dd253 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -273,7 +273,7 @@ bool Copter::ekf_has_relative_position() const
         return false;
     }
 
-    // return immediately if neither optflow nor visual odometry is enabled
+    // return immediately if neither optflow nor visual odometry nor wind estimatation is enabled
     bool enabled = false;
 #if AP_OPTICALFLOW_ENABLED
     if (optflow.enabled()) {
@@ -285,6 +285,10 @@ bool Copter::ekf_has_relative_position() const
         enabled = true;
     }
 #endif
+    Vector3f airspeed_vec_bf;
+    if (AP::ahrs().airspeed_vector_true(airspeed_vec_bf)) {
+        enabled = true;
+    }
     if (!enabled) {
         return false;
     }