From 29534a7e2d337338d7372feb5ec5bf6f9483240a Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 14 Apr 2021 23:21:50 +0100
Subject: [PATCH] AP_Windvane: set true to apparent if no speed sensor

---
 libraries/AP_WindVane/AP_WindVane.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_WindVane/AP_WindVane.cpp b/libraries/AP_WindVane/AP_WindVane.cpp
index c31b58b06f..92be1cffb0 100644
--- a/libraries/AP_WindVane/AP_WindVane.cpp
+++ b/libraries/AP_WindVane/AP_WindVane.cpp
@@ -295,6 +295,10 @@ void AP_WindVane::update()
             // assume true wind has not changed, calculate the apparent wind direction and speed
             update_apparent_wind_dir_from_true();
         }
+    } else {
+        // only have direction, cant to true wind calcs, set true direction to apparent
+        _direction_true = _direction_apparent_raw + AP::ahrs().yaw;
+        _speed_true = 0.0f;
     }
 
     /*