From 0af878703fe4a99fff10e834012c063308fe0d60 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Wed, 13 Apr 2016 09:10:29 -0700
Subject: [PATCH] AP_TECS: move target land_airspeed logic to top layer

---
 libraries/AP_TECS/AP_TECS.cpp | 14 +-------------
 1 file changed, 1 insertion(+), 13 deletions(-)

diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
index d5c281ad40..861a89cd93 100644
--- a/libraries/AP_TECS/AP_TECS.cpp
+++ b/libraries/AP_TECS/AP_TECS.cpp
@@ -339,6 +339,7 @@ void AP_TECS::_update_speed(float load_factor)
     // Convert equivalent airspeeds to true airspeeds
 
     float EAS2TAS = _ahrs.get_EAS2TAS();
+    _TAS_dem = _EAS_dem * EAS2TAS;
     _TASmax   = aparm.airspeed_max * EAS2TAS;
     _TASmin   = aparm.airspeed_min * EAS2TAS;
 
@@ -348,19 +349,6 @@ void AP_TECS::_update_speed(float load_factor)
         _TASmin *= load_factor;
     }
 
-    float demanded_airspeed = _EAS_dem;
-    if (_ahrs.airspeed_sensor_enabled()) {
-        if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage == FLIGHT_LAND_FINAL) && _landAirspeed >= 0) {
-            demanded_airspeed = _landAirspeed;
-        } else if (_flight_stage == FLIGHT_LAND_PREFLARE) {
-            if (aparm.land_pre_flare_airspeed > 0) {
-                demanded_airspeed = aparm.land_pre_flare_airspeed;
-            } else if (_landAirspeed >= 0) {
-                demanded_airspeed = _landAirspeed;
-            }
-        }
-    }
-    _TAS_dem = demanded_airspeed * EAS2TAS;
     if (_TASmax < _TASmin) {
         _TASmax = _TASmin;
     }