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AP_Airspeed: Fix AP_GPS.h include and use the singleton

This commit is contained in:
Michael du Breuil 2019-06-13 20:12:22 -07:00 committed by Andrew Tridgell
parent c70107cabb
commit 157a3b1e34
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Airspeed/AP_Airspeed_Health.cpp
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@ -2,6 +2,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "AP_Airspeed.h" #include "AP_Airspeed.h"
#include <AP_GPS/AP_GPS.h>
void AP_Airspeed::check_sensor_failures() void AP_Airspeed::check_sensor_failures()
{ {
@ -30,8 +31,9 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
// update state[i].failures.health_probability via LowPassFilter // update state[i].failures.health_probability via LowPassFilter
float speed_accuracy; float speed_accuracy;
if (AP::gps().speed_accuracy(speed_accuracy)) { const AP_GPS &gps = AP::gps();
const float gnd_speed = AP::gps().ground_speed(); if (gps.speed_accuracy(speed_accuracy)) {
const float gnd_speed = gps.ground_speed();
if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) { if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) {
// bad, decay fast // bad, decay fast