From 7f213648446bf32f86d3813a8ff80795a894157c Mon Sep 17 00:00:00 2001
From: Carl Olsson <carlolsson.co@gmail.com>
Date: Wed, 20 May 2020 08:38:58 +0200
Subject: [PATCH] EKF: use initial wind uncertainty with no airspeed sensor
 (#823)

---
 EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 47b7ebaa37..a13eddeefb 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -935,7 +935,7 @@ void Ekf::resetWindCovariance()
 
 	} else {
 		// without airspeed, start with a small initial uncertainty to improve the initial estimate
-		P.uncorrelateCovarianceSetVariance<2>(22, 1.0f);
+		P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty);
 
 	}
 }