From 3cfbad0f4d7ad6c163737adf7ce3d84b30712483 Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Mon, 3 Jan 2022 16:16:22 -0500
Subject: [PATCH] AP_Airspeed: add AP_AIRSPEED_ENABLED

---
 libraries/AP_Airspeed/AP_Airspeed.cpp                |  9 +++++----
 libraries/AP_Airspeed/AP_Airspeed.h                  | 12 +++++++++++-
 libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp |  3 ++-
 3 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 66dac25cbd..3238a0de76 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -273,7 +273,8 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
 #endif // AIRSPEED_MAX_SENSORS
 
     // Note that 21, 22 and 23 are used above by the _OPTIONS, _WIND_MAX and _WIND_WARN parameters.  Do not use them!!
-    
+
+    // NOTE: Index 63 is used by AIRSPEED_TYPE, Do not use it!: AP_Param converts an index of 0 to 63 so that the index may be bit shifted
     AP_GROUPEND
 };
 
@@ -597,7 +598,7 @@ void AP_Airspeed::read(uint8_t i)
 }
 
 // read all airspeed sensors
-void AP_Airspeed::update(bool log)
+void AP_Airspeed::update()
 {
     for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
         read(i);
@@ -624,8 +625,8 @@ void AP_Airspeed::update(bool log)
 
     check_sensor_failures();
 
-#ifndef HAL_BUILD_AP_PERIPH
-    if (log) {
+#if HAL_LOGGING_ENABLED
+    if (_log_bit != (uint32_t)-1 && AP::logger().should_log(_log_bit)) {
         Log_Airspeed();
     }
 #endif
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index e32473aae5..a4790d484b 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -7,6 +7,11 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_MSP/msp.h>
 
+#ifndef AP_AIRSPEED_ENABLED
+#define AP_AIRSPEED_ENABLED 1
+#endif
+
+
 class AP_Airspeed_Backend;
 
 #ifndef AIRSPEED_MAX_SENSORS
@@ -52,13 +57,16 @@ public:
 
     void init(void);
 
+    // indicate which bit in LOG_BITMASK indicates we should log airspeed readings
+    void set_log_bit(uint32_t log_bit) { _log_bit = log_bit; }
+
 #if AP_AIRSPEED_AUTOCAL_ENABLE
     // inflight ratio calibration
     void set_calibration_enabled(bool enable) {calibration_enabled = enable;}
 #endif //AP_AIRSPEED_AUTOCAL_ENABLE
 
     // read the analog source and update airspeed
-    void update(bool log);
+    void update(void);
 
     // calibrate the airspeed. This must be called on startup if the
     // altitude/climb_rate/acceleration interfaces are ever used
@@ -251,6 +259,8 @@ private:
     uint8_t primary;
     uint8_t num_sensors;
 
+    uint32_t _log_bit = -1;     // stores which bit in LOG_BITMASK is used to indicate we should log airspeed readings
+
     void read(uint8_t i);
     // return the differential pressure in Pascal for the last airspeed reading for the requested instance
     // returns 0 if the sensor is not enabled
diff --git a/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp b/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
index 8bed8d8888..15413053ba 100644
--- a/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
+++ b/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
@@ -65,6 +65,7 @@ void setup()
     board_config.init();
 
     // initialize airspeed
+    // Note airspeed.set_log_bit(LOG_BIT) would need to be called in order to enable logging
     airspeed.init();
 
     airspeed.calibrate(false);
@@ -80,7 +81,7 @@ void loop(void)
 
         // current system time in milliseconds
         timer = AP_HAL::millis();
-        airspeed.update(false);
+        airspeed.update();
         airspeed.get_temperature(temperature);
 
         // print temperature and airspeed to console