From ad417446700e3ddb5a7933573c287d3c6a0f96e5 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 1 Aug 2018 14:59:02 -0400
Subject: [PATCH] wind_estimator add param to enable and start

---
 ROMFS/px4fmu_common/init.d/rcS                     | 5 +++++
 src/modules/wind_estimator/wind_estimator_main.cpp | 9 ++++++++-
 src/modules/wind_estimator/wind_estimator_params.c | 9 +++++++++
 3 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 59d1410c74..95e8778965 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -489,6 +489,11 @@ else
 	#
 	navigator start
 
+	#
+	# Start the standalone wind estimator.
+	#
+	wind_estimator start
+
 	#
 	# Start a thermal calibration if required.
 	#
diff --git a/src/modules/wind_estimator/wind_estimator_main.cpp b/src/modules/wind_estimator/wind_estimator_main.cpp
index a939987401..fbe32ebd65 100644
--- a/src/modules/wind_estimator/wind_estimator_main.cpp
+++ b/src/modules/wind_estimator/wind_estimator_main.cpp
@@ -330,5 +330,12 @@ extern "C" __EXPORT int wind_estimator_main(int argc, char *argv[]);
 int
 wind_estimator_main(int argc, char *argv[])
 {
-	return WindEstimatorModule::main(argc, argv);
+	int32_t wind_estimator_enabled = 0;
+	param_get(param_find("WEST_EN"), &wind_estimator_enabled);
+
+	if (wind_estimator_enabled == 1) {
+		return WindEstimatorModule::main(argc, argv);
+	}
+
+	return PX4_OK;
 }
diff --git a/src/modules/wind_estimator/wind_estimator_params.c b/src/modules/wind_estimator/wind_estimator_params.c
index 42ae79f464..eb4f71b0f9 100644
--- a/src/modules/wind_estimator/wind_estimator_params.c
+++ b/src/modules/wind_estimator/wind_estimator_params.c
@@ -1,3 +1,12 @@
+/**
+ * Enable Wind estimator
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Wind Estimator
+ */
+PARAM_DEFINE_INT32(WEST_EN, 0);
+
 /**
  * Wind estimator wind process noise.
  *