From aa32a0d14319f2929005ed0896c11c1afbfc5f9d Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Sat, 8 Jun 2019 00:21:21 +0100
Subject: [PATCH] AP_Windvane: fix NMEA vehicle to earth frame

---
 libraries/AP_WindVane/AP_WindVane_NMEA.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_WindVane/AP_WindVane_NMEA.cpp b/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
index cc690218ae..677e1c331e 100644
--- a/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
+++ b/libraries/AP_WindVane/AP_WindVane_NMEA.cpp
@@ -64,7 +64,7 @@ void AP_WindVane_NMEA::update()
         if (decode(c)) {
             // user may not have NMEA selected for both speed and direction
             if (_frontend._direction_type.get() == _frontend.WindVaneType::WINDVANE_NMEA) {
-                direction_update_frontend(wrap_PI(radians(_wind_dir_deg + _frontend._dir_analog_bearing_offset.get())));
+                direction_update_frontend(wrap_PI(radians(_wind_dir_deg + _frontend._dir_analog_bearing_offset.get()) + AP::ahrs().yaw));
             }
             if (_frontend._speed_sensor_type.get() == _frontend.Speed_type::WINDSPEED_NMEA) {
                 speed_update_frontend(_speed_ms);