diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index ad9bc1627f..4e66fa0cd9 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -1091,12 +1091,15 @@ static void update_current_flight_mode(void)
                 nav_pitch_cd = constrain(nav_pitch_cd, 500, takeoff_pitch_cd);
             }
 
-            // don't use a pitch/roll integrators during takeoff if we are
-            // below minimum speed
 #if APM_CONTROL == DISABLED
-            if (airspeed.use() && airspeed.get_airspeed() < g.flybywire_airspeed_min) {
-                g.pidServoPitch.reset_I();
-                g.pidServoRoll.reset_I();
+            float aspeed;
+            if (ahrs.airspeed_estimate(&aspeed)) {
+                // don't use a pitch/roll integrators during takeoff if we are
+                // below minimum speed
+                if (aspeed < g.flybywire_airspeed_min) {
+                    g.pidServoPitch.reset_I();
+                    g.pidServoRoll.reset_I();
+                }
             }
 #endif
 
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 5c290d973f..e2c13b00f2 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -220,9 +220,7 @@ static void calc_nav_roll()
 
     // Use airspeed_cruise as an analogue for airspeed if we don't have airspeed.
     float speed;
-    if(airspeed.use()) {
-        speed = airspeed.get_airspeed();
-    } else {
+    if (!ahrs.airspeed_estimate(&speed)) {
         speed = g.airspeed_cruise_cm*0.01;
 
         // Floor the speed so that the user can't enter a bad value