diff --git a/src/lib/wind_estimator/python/derivation.py b/src/lib/wind_estimator/python/derivation.py
index fdc14ecee5..7d53e699b0 100755
--- a/src/lib/wind_estimator/python/derivation.py
+++ b/src/lib/wind_estimator/python/derivation.py
@@ -96,10 +96,10 @@ def init_wind_using_airspeed(
         airspeed_var: sf.Scalar,
 ) -> (sf.V2, sf.M22):
 
-    # Initialise wind states assuming zero side slip and horizontal flight
-    wind = sf.V2(v_local[0] - airspeed * sm.cos(heading), v_local[1] - airspeed * sm.sin(heading))
-    # Zero sideslip, propagate the sideslip variance using partial derivatives w.r.t heading
-    J = wind.jacobian([v_local[0], v_local[1], heading, heading, airspeed])
+    # Initialise wind states assuming horizontal flight
+    sideslip = sm.Symbol("beta")
+    wind = sf.V2(v_local[0] - airspeed * sm.cos(heading + sideslip), v_local[1] - airspeed * sm.sin(heading + sideslip))
+    J = wind.jacobian([v_local[0], v_local[1], heading, sideslip, airspeed])
 
     R = sf.M55()
     R[0,0] = v_var
@@ -110,6 +110,10 @@ def init_wind_using_airspeed(
 
     P = J * R * J.T
 
+    # Assume zero sideslip
+    P = P.subs({sideslip: 0.0})
+    wind = wind.subs({sideslip: 0.0})
+
     return (wind, P)
 
 generate_px4_function(fuse_airspeed, output_names=["H", "K", "innov_var", "innov"])
diff --git a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
index cbfa6fa152..8fca830af2 100644
--- a/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
+++ b/src/lib/wind_estimator/python/generated/init_wind_using_airspeed.h
@@ -34,21 +34,20 @@ void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Sc
                            const Scalar sideslip_var, const Scalar airspeed_var,
                            matrix::Matrix<Scalar, 2, 1>* const wind = nullptr,
                            matrix::Matrix<Scalar, 2, 2>* const P = nullptr) {
-  // Total ops: 22
-
-  // Unused inputs
-  (void)heading_var;
+  // Total ops: 29
 
   // Input arrays
 
-  // Intermediate terms (7)
+  // Intermediate terms (9)
   const Scalar _tmp0 = std::cos(heading);
   const Scalar _tmp1 = std::sin(heading);
   const Scalar _tmp2 = std::pow(_tmp1, Scalar(2));
-  const Scalar _tmp3 = std::pow(airspeed, Scalar(2)) * sideslip_var;
-  const Scalar _tmp4 = std::pow(_tmp0, Scalar(2));
-  const Scalar _tmp5 = _tmp0 * _tmp1;
-  const Scalar _tmp6 = -_tmp3 * _tmp5 + _tmp5 * airspeed_var;
+  const Scalar _tmp3 = std::pow(airspeed, Scalar(2));
+  const Scalar _tmp4 = _tmp3 * sideslip_var;
+  const Scalar _tmp5 = _tmp3 * heading_var;
+  const Scalar _tmp6 = std::pow(_tmp0, Scalar(2));
+  const Scalar _tmp7 = _tmp0 * _tmp1;
+  const Scalar _tmp8 = -_tmp4 * _tmp7 - _tmp5 * _tmp7 + _tmp7 * airspeed_var;
 
   // Output terms (2)
   if (wind != nullptr) {
@@ -61,10 +60,10 @@ void InitWindUsingAirspeed(const matrix::Matrix<Scalar, 3, 1>& v_local, const Sc
   if (P != nullptr) {
     matrix::Matrix<Scalar, 2, 2>& _p = (*P);
 
-    _p(0, 0) = _tmp2 * _tmp3 + _tmp4 * airspeed_var + v_var;
-    _p(1, 0) = _tmp6;
-    _p(0, 1) = _tmp6;
-    _p(1, 1) = _tmp2 * airspeed_var + _tmp3 * _tmp4 + v_var;
+    _p(0, 0) = _tmp2 * _tmp4 + _tmp2 * _tmp5 + _tmp6 * airspeed_var + v_var;
+    _p(1, 0) = _tmp8;
+    _p(0, 1) = _tmp8;
+    _p(1, 1) = _tmp2 * airspeed_var + _tmp4 * _tmp6 + _tmp5 * _tmp6 + v_var;
   }
 }  // NOLINT(readability/fn_size)