From e4b8d8a9b640495ca6db4898c9e47fea9c968034 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 1 Dec 2022 19:10:40 +0000
Subject: [PATCH] AP_NavEKF3: ensure wind estimation from airspeed can be used
 on its own

---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index b7e6866123..eaec4df54e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -179,12 +179,14 @@ void NavEKF3_core::getVelNED(Vector3f &vel) const
 // returns false if estimate is unavailable
 bool NavEKF3_core::getAirSpdVec(Vector3f &vel) const
 {
-    if (inhibitWindStates || PV_AidingMode == AID_NONE) {
+    if (PV_AidingMode == AID_NONE) {
         return false;
     }
     vel = (outputDataNew.velocity + velOffsetNED).tofloat();
-    vel.x -= stateStruct.wind_vel.x;
-    vel.y -= stateStruct.wind_vel.y;
+    if (!inhibitWindStates) {
+        vel.x -= stateStruct.wind_vel.x;
+        vel.y -= stateStruct.wind_vel.y;
+    }
     Matrix3f Tnb; // rotation from nav to body frame
     outputDataNew.quat.inverse().rotation_matrix(Tnb);
     vel = Tnb * vel;