From 12a06ee0ae546dcb07175662c0f422b600bda203 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 18 Sep 2023 23:18:55 +1000
Subject: [PATCH] AP_AHRS: make a pair of methods static on AP_AHRS_Backend

these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
---
 libraries/AP_AHRS/AP_AHRS.cpp         | 4 ++--
 libraries/AP_AHRS/AP_AHRS.h           | 2 +-
 libraries/AP_AHRS/AP_AHRS_Backend.cpp | 2 +-
 libraries/AP_AHRS/AP_AHRS_Backend.h   | 6 +++---
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 9ef35a24f8..750867a263 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -325,7 +325,7 @@ void AP_AHRS::update_state(void)
     state.primary_accel = _get_primary_accel_index();
     state.primary_core = _get_primary_core_index();
     state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
-    state.EAS2TAS = dcm.get_EAS2TAS();
+    state.EAS2TAS = AP_AHRS_Backend::get_EAS2TAS();
     state.airspeed_ok = _airspeed_estimate(state.airspeed);
     state.airspeed_true_ok = _airspeed_estimate_true(state.airspeed_true);
     state.airspeed_vec_ok = _airspeed_vector_true(state.airspeed_vec);
@@ -786,7 +786,7 @@ bool AP_AHRS::_wind_estimate(Vector3f &wind) const
  */
 bool AP_AHRS::airspeed_sensor_enabled(void) const
 {
-    if (!dcm.airspeed_sensor_enabled()) {
+    if (!AP_AHRS_Backend::airspeed_sensor_enabled()) {
         return false;
     }
     nav_filter_status filter_status;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 3cdc4074c8..d6a675b1b6 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -155,7 +155,7 @@ public:
     // opposed to an IMU estimate
     bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
         // FIXME: make this a method on the active backend
-        return dcm.airspeed_sensor_enabled(airspeed_index);
+        return AP_AHRS_Backend::airspeed_sensor_enabled(airspeed_index);
     }
 
     // return a synthetic airspeed estimate (one derived from sensors
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.cpp b/libraries/AP_AHRS/AP_AHRS_Backend.cpp
index fe74611a1e..c33c1705d2 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.cpp
@@ -330,7 +330,7 @@ void AP_AHRS::Log_Write_Home_And_Origin()
 }
 
 // get apparent to true airspeed ratio
-float AP_AHRS_Backend::get_EAS2TAS(void) const {
+float AP_AHRS_Backend::get_EAS2TAS(void) {
     return AP::baro().get_EAS2TAS();
 }
 
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index 56d1f5fd73..0fb02eae9b 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -146,11 +146,11 @@ public:
     }
 
     // get apparent to true airspeed ratio
-    float get_EAS2TAS(void) const;
+    static float get_EAS2TAS(void);
 
     // return true if airspeed comes from an airspeed sensor, as
     // opposed to an IMU estimate
-    bool airspeed_sensor_enabled(void) const {
+    static bool airspeed_sensor_enabled(void) {
     #if AP_AIRSPEED_ENABLED
         const AP_Airspeed *_airspeed = AP::airspeed();
         return _airspeed != nullptr && _airspeed->use() && _airspeed->healthy();
@@ -161,7 +161,7 @@ public:
 
     // return true if airspeed comes from a specific airspeed sensor, as
     // opposed to an IMU estimate
-    bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
+    static bool airspeed_sensor_enabled(uint8_t airspeed_index) {
     #if AP_AIRSPEED_ENABLED
         const AP_Airspeed *_airspeed = AP::airspeed();
         return _airspeed != nullptr && _airspeed->use(airspeed_index) && _airspeed->healthy(airspeed_index);