From a22f5e3bc4548aa6af4a91a6bfa3b783cdf0f15c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 24 May 2013 11:21:32 +1000
Subject: [PATCH] Plane: enable wind estimation

---
 ArduPlane/setup.pde  | 1 +
 ArduPlane/system.pde | 2 ++
 ArduPlane/test.pde   | 2 ++
 3 files changed, 5 insertions(+)

diff --git a/ArduPlane/setup.pde b/ArduPlane/setup.pde
index 136ecff4e3..37de1895bb 100644
--- a/ArduPlane/setup.pde
+++ b/ArduPlane/setup.pde
@@ -393,6 +393,7 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
 
     ahrs.init();
     ahrs.set_fly_forward(true);
+    ahrs.set_wind_estimation(true);
 
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 4f14fc1ac4..1613e50cf7 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -220,6 +220,7 @@ static void init_ardupilot()
         //read_EEPROM_airstart_critical();
         ahrs.init();
         ahrs.set_fly_forward(true);
+        ahrs.set_wind_estimation(true);
 
         ins.init(AP_InertialSensor::WARM_START, 
                  ins_sample_rate,
@@ -448,6 +449,7 @@ static void startup_INS_ground(bool do_accel_init)
 
     ahrs.init();
     ahrs.set_fly_forward(true);
+    ahrs.set_wind_estimation(true);
 
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index 9212f8ae7a..ebb933e137 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -471,6 +471,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
     //cliSerial->printf_P(PSTR("Calibrating."));
     ahrs.init();
     ahrs.set_fly_forward(true);
+    ahrs.set_wind_estimation(true);
 
     ins.init(AP_InertialSensor::COLD_START, 
              ins_sample_rate,
@@ -532,6 +533,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     }
     ahrs.init();
     ahrs.set_fly_forward(true);
+    ahrs.set_wind_estimation(true);
     ahrs.set_compass(&compass);
     report_compass();