diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index a3eef9d3a1..d3cb480a15 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit a3eef9d3a17078896f40abb0deaabfb0faad8c65
+Subproject commit d3cb480a15d64a153513cd9cb68abd8bb5f4c1f8
diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
index 89904204dc..f540ebfcd5 100644
--- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
@@ -470,7 +470,7 @@ FixedwingPositionINDIControl::_compute_wind_estimate_EKF()
     float speed = fmaxf(_cal_airspeed, _stall_speed);
     float u_approx = _true_airspeed;
     float v_approx = body_force(1)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area*_C_B1);
-    float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-0.2125f)/_C_L1;
+    float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-0.1949f)/3.5928f;
     Vector3f vel_air = R_ib*(Vector3f{u_approx, v_approx, w_approx});
 
     // compute wind from wind triangle