Plane: correct compilation when airspeed disabled

ArduPlane/GCS_Mavlink.cpp

@@ -247,9 +247,11 @@ float GCS_MAVLINK_Plane::vfr_hud_airspeed() const
     // will use an airspeed sensor, that value is constrained by the
     // ground speed.  When reporting we should send the true airspeed
     // value if possible:
+#if AP_AIRSPEED_ENABLED
     if (plane.airspeed.enabled() && plane.airspeed.healthy()) {
         return plane.airspeed.get_airspeed();
     }
+#endif
 
     // airspeed estimates are OK:
     float aspeed;

ArduPlane/Parameters.cpp

@@ -1492,6 +1492,7 @@ void Plane::load_parameters(void)
     }
 #endif
 
+#if AP_AIRSPEED_ENABLED
     // PARAMETER_CONVERSION - Added: Jan-2022
     {
         const uint16_t old_key = g.k_param_airspeed;
@@ -1499,6 +1500,7 @@ void Plane::load_parameters(void)
         const uint16_t old_top_element = 0; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
         AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, old_top_element, true);
     }
+#endif
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }

ArduPlane/Plane.h

@@ -31,6 +31,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
+#include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 #include <AP_Math/AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library

ArduPlane/is_flying.cpp

@@ -291,8 +291,14 @@ void Plane::crash_detection_update(void)
 
     // if we have no GPS lock and we don't have a functional airspeed
     // sensor then don't do crash detection
-    if (gps.status() < AP_GPS::GPS_OK_FIX_3D && (!airspeed.use() || !airspeed.healthy())) {
+    if (gps.status() < AP_GPS::GPS_OK_FIX_3D) {
+#if AP_AIRSPEED_ENABLED
+        if (!airspeed.use() || !airspeed.healthy()) {
+            crashed = false;
+        }
+#else
         crashed = false;
+#endif
     }
 
     if (!crashed) {

ArduPlane/quadplane.cpp

@@ -3014,11 +3014,13 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
         return false;
     }
 
+#if AP_AIRSPEED_ENABLED
     if (is_positive(maximum_takeoff_airspeed) && (plane.airspeed.get_airspeed() > maximum_takeoff_airspeed)) {
         gcs().send_text(MAV_SEVERITY_CRITICAL, "Failed to complete takeoff, excessive wind");
         plane.set_mode(plane.mode_qland, ModeReason::VTOL_FAILED_TAKEOFF);
         return false;
     }
+#endif
 
     if (plane.current_loc.alt < plane.next_WP_loc.alt) {
         return false;

ArduPlane/servos.cpp

@@ -133,11 +133,17 @@ bool Plane::suppress_throttle(void)
         // if we have an airspeed sensor, then check it too, and
         // require 5m/s. This prevents throttle up due to spiky GPS
         // groundspeed with bad GPS reception
+#if AP_AIRSPEED_ENABLED
         if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
             // we're moving at more than 5 m/s
             throttle_suppressed = false;
             return false;        
         }
+#else
+        // no airspeed sensor, so we trust that the GPS's movement is truthful
+        throttle_suppressed = false;
+        return false;
+#endif
     }
 
 #if HAL_QUADPLANE_ENABLED