From cc106e27d73ae28a93ca2831f90a1a01c4c932b4 Mon Sep 17 00:00:00 2001
From: JaeyoungLim <jalim@ethz.ch>
Date: Mon, 24 Nov 2025 15:36:03 -0800
Subject: [PATCH] Use gravity constant

---
 src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp | 3 ++-
 src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp | 3 +--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp b/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
index 6cf8a8bb90..60700a157b 100644
--- a/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
+++ b/src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
@@ -123,6 +123,7 @@ void
 FixedwingWindEstimator::vehicle_acceleration_poll()
 {
 	vehicle_acceleration_s vehicle_acceleration;
+
 	if (_vehicle_acceleration_sub.update(&vehicle_acceleration)) {
 		_acceleration = Vector3f(vehicle_acceleration.xyz);
 	}
@@ -137,7 +138,7 @@ matrix::Vector3f FixedwingWindEstimator::compute_wind_estimate()
 	const float C_A1 = _param_fw_w_c_a1.get();
 
 	// compute expected AoA from g-forces:
-	matrix::Vector3f body_force = _mass * (_acceleration + _attitude.rotateVectorInverse(_gravity));
+	matrix::Vector3f body_force = _mass * (_acceleration + _attitude.rotateVectorInverse(matrix::Vector3f(0.f, 0.f, CONSTANTS_ONE_G)));
 
 	float _rho{1.225};
 	const float speed = fmaxf(_calibrated_airspeed, _stall_airspeed);
diff --git a/src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp b/src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp
index 0cedbb2b11..b3ff99f593 100644
--- a/src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp
+++ b/src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp
@@ -63,7 +63,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_local_position.h>
-
+#include <geo/geo.h> // CONSTANTS_ONE_G
 
 using uORB::SubscriptionData;
 
@@ -118,7 +118,6 @@ private:
 	matrix::Quatf 				_attitude{};
 	matrix::Vector3f	_acceleration{0.f, 0.f, 0.f};
 	matrix::Vector3f _local_velocity{0.f, 0.f, 0.f};
-	matrix::Vector3f _gravity{0.f, 0.f, 9.81f};
 
 	bool _landed{true};