From 47be6d8ad17e23dfce813e8ae0603ad8d9119c06 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 15 Aug 2012 12:34:08 +1000
Subject: [PATCH] AP_Airspeed: remove airspeed filter and run at 10Hz

this saves on the filter memory, and gives just as good a result
---
 ArduPlane/ArduPlane.pde               | 16 ++++++++--------
 libraries/AP_Airspeed/AP_Airspeed.cpp |  2 +-
 libraries/AP_Airspeed/AP_Airspeed.h   |  1 -
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 69b1086aa1..292b69340e 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -761,14 +761,6 @@ static void fast_loop()
 	// ------------------------------------
 	check_short_failsafe();
 
-	// Read Airspeed
-	// -------------
-	if (airspeed.enabled()) {
-#if HIL_MODE != HIL_MODE_ATTITUDE
-		read_airspeed();
-#endif
-	}
-
 	#if HIL_MODE == HIL_MODE_SENSORS
 		// update hil before AHRS update
 		gcs_update();
@@ -878,6 +870,14 @@ Serial.println(tempaccel.z, DEC);
 		case 2:
 			medium_loopCounter++;
 
+            // Read Airspeed
+            // -------------
+#if HIL_MODE != HIL_MODE_ATTITUDE
+            if (airspeed.enabled()) {
+                read_airspeed();
+            }
+#endif
+
 			// Read altitude from sensors
 			// ------------------
 			update_alt();
diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 8def149969..728025067b 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -69,7 +69,7 @@ void AP_Airspeed::read(void)
 	if (!_enable) {
 		return;
 	}
-	_airspeed_raw 		= _filter.apply(_source->read());
+	_airspeed_raw 		= _source->read();
 	airspeed_pressure 	= max((_airspeed_raw - _offset), 0);
 	_airspeed		= sqrt(airspeed_pressure * _ratio);	
 }
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index 350dc6954d..5ab9d86111 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -50,7 +50,6 @@ private:
 	AP_Int8     _enable;
 	float	    _airspeed;
 	float	    _airspeed_raw;
-    AverageFilterFloat_Size5 _filter;
 };