From 29455adab4af04f7e79766dec91691362732eafb Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 12 Nov 2021 17:54:29 +0000
Subject: [PATCH] AP_L1_Control: remove SpdHgt and use TECS direct

---
 libraries/AP_L1_Control/AP_L1_Control.cpp | 4 ++--
 libraries/AP_L1_Control/AP_L1_Control.h   | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp
index 567b04efe1..a3797d5315 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -142,10 +142,10 @@ float AP_L1_Control::loiter_radius(const float radius) const
     float lateral_accel_sea_level = tanf(radians(sanitized_bank_limit)) * GRAVITY_MSS;
 
     float nominal_velocity_sea_level;
-    if(_spdHgtControl == nullptr) {
+    if(_tecs == nullptr) {
         nominal_velocity_sea_level = 0.0f;
     } else {
-        nominal_velocity_sea_level =  _spdHgtControl->get_target_airspeed();
+        nominal_velocity_sea_level =  _tecs->get_target_airspeed();
     }
 
     float eas2tas_sq = sq(_ahrs.get_EAS2TAS());
diff --git a/libraries/AP_L1_Control/AP_L1_Control.h b/libraries/AP_L1_Control/AP_L1_Control.h
index ca57823f52..34814fd73e 100644
--- a/libraries/AP_L1_Control/AP_L1_Control.h
+++ b/libraries/AP_L1_Control/AP_L1_Control.h
@@ -17,14 +17,14 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Navigation/AP_Navigation.h>
-#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
+#include <AP_TECS/AP_TECS.h>
 #include <AP_Common/Location.h>
 
 class AP_L1_Control : public AP_Navigation {
 public:
-    AP_L1_Control(AP_AHRS &ahrs, const AP_SpdHgtControl *spdHgtControl)
+    AP_L1_Control(AP_AHRS &ahrs, const AP_TECS *tecs)
         : _ahrs(ahrs)
-        , _spdHgtControl(spdHgtControl)
+        , _tecs(tecs)
     {
         AP_Param::setup_object_defaults(this, var_info);
     }
@@ -81,7 +81,7 @@ private:
     AP_AHRS &_ahrs;
 
     // pointer to the SpdHgtControl object
-    const AP_SpdHgtControl *_spdHgtControl;
+    const AP_TECS *_tecs;
 
     // lateral acceration in m/s required to fly to the
     // L1 reference point (+ve to right)