Sub: move Airspeed to AP_Vehicle

ArduSub/ArduSub.cpp

@@ -98,7 +98,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #ifdef USERHOOK_SUPERSLOWLOOP
     SCHED_TASK(userhook_SuperSlowLoop, 1,     75,  90),
 #endif
-    SCHED_TASK(read_airspeed,         10,    100,  93),
 };
 
 void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

ArduSub/Parameters.cpp

@@ -657,9 +657,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
 #endif
 
-    // @Group: ARSPD
-    // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
-    AP_SUBGROUPINFO(airspeed, "ARSPD", 19, ParametersG2, AP_Airspeed),
+    // 19 was airspeed
 
     AP_GROUPEND
 };
@@ -667,8 +665,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 /*
   constructor for g2 object
  */
-ParametersG2::ParametersG2():
-    airspeed()
+ParametersG2::ParametersG2()
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
@@ -730,6 +727,20 @@ void Sub::load_parameters()
     AP_Param::set_by_name("MNT_RC_IN_TILT", 8);
     // We should ignore this parameter since ROVs are neutral buoyancy
     AP_Param::set_by_name("MOT_THST_HOVER", 0.5);
+
+// PARAMETER_CONVERSION - Added: JAN-2022
+#if AP_AIRSPEED_ENABLED
+    // Find G2's Top Level Key
+    AP_Param::ConversionInfo info;
+    if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+        return;
+    }
+
+    const uint16_t old_index = 19;          // Old parameter index in the tree
+    const uint16_t old_top_element = 4051;  // Old group element in the tree for the first subgroup element
+    AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
+#endif
+
 }
 
 void Sub::convert_old_parameters()

ArduSub/Parameters.h

@@ -338,10 +338,6 @@ public:
 #if AP_SCRIPTING_ENABLED
     AP_Scripting scripting;
 #endif // AP_SCRIPTING_ENABLED
-
-    // Airspeed
-    AP_Airspeed airspeed;
-
 };
 
 extern const AP_Param::Info        var_info[];

ArduSub/Sub.h

@@ -577,7 +577,6 @@ private:
     bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
 
     void log_init(void);
-    void read_airspeed();
 
     void failsafe_leak_check();
     void failsafe_internal_pressure_check();

ArduSub/sensors.cpp

@@ -70,11 +70,3 @@ bool Sub::rangefinder_alt_ok() const
 {
     return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
 }
-
-/*
-  ask airspeed sensor for a new value, duplicated from plane
- */
-void Sub::read_airspeed()
-{
-    g2.airspeed.update(should_log(MASK_LOG_IMU));
-}

ArduSub/system.cpp

@@ -85,6 +85,10 @@ void Sub::init_ardupilot()
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
+#if AP_AIRSPEED_ENABLED
+    airspeed.set_log_bit(MASK_LOG_IMU);
+#endif
+
 #if AP_OPTICALFLOW_ENABLED
     // initialise optical flow sensor
     optflow.init(MASK_LOG_OPTFLOW);
@@ -155,8 +159,6 @@ void Sub::init_ardupilot()
     g2.scripting.init();
 #endif // AP_SCRIPTING_ENABLED
 
-    g2.airspeed.init();
-
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we are
     // ready to fly