From c090ba2257e59d7dd49c474f408e4cdf1c34ba60 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Thu, 4 Aug 2016 11:06:44 -0700
Subject: [PATCH] Airspeed: store reference in libraries and populate it

- also had to move the initial definition in plane.h so it happened before the others.
---
 ArduPlane/Plane.h                          | 14 +++++++-------
 libraries/APM_Control/AP_PitchController.h |  5 +++--
 libraries/APM_Control/AP_RollController.h  |  7 ++++---
 libraries/APM_Control/AP_YawController.h   |  5 +++--
 libraries/AP_TECS/AP_TECS.h                |  5 +++--
 5 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index acd5c835ad..5760901d89 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -159,6 +159,9 @@ private:
     // mapping between input channels
     RCMapper rcmap;
 
+    // Airspeed Sensors
+    AP_Airspeed airspeed;
+
     // board specific config
     AP_BoardConfig BoardConfig;
 
@@ -221,12 +224,12 @@ private:
 #endif
 
     AP_L1_Control L1_controller {ahrs};
-    AP_TECS TECS_controller {ahrs, aparm};
+    AP_TECS TECS_controller {airspeed, ahrs, aparm};
 
     // Attitude to servo controllers
-    AP_RollController  rollController {ahrs, aparm, DataFlash};
-    AP_PitchController pitchController {ahrs, aparm, DataFlash};
-    AP_YawController   yawController {ahrs, aparm};
+    AP_RollController  rollController {airspeed, ahrs, aparm, DataFlash};
+    AP_PitchController pitchController {airspeed, ahrs, aparm, DataFlash};
+    AP_YawController   yawController {airspeed, ahrs, aparm};
     AP_SteerController steerController {ahrs};
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@@ -393,9 +396,6 @@ private:
     AP_Frsky_Telem frsky_telemetry {ahrs, battery};
 #endif
 
-    // Airspeed Sensors
-    AP_Airspeed airspeed;
-
     // ACRO controller state
     struct {
         bool locked_roll;
diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index f25d14c136..fc97306af5 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -10,7 +10,8 @@
 
 class AP_PitchController {
 public:
-	AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
+	AP_PitchController(AP_Airspeed &aspeed, AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
+		airspeed(aspeed),
 		aparm(parms),
         autotune(gains, AP_AutoTune::AUTOTUNE_PITCH, parms, _dataflash),
         _ahrs(ahrs)
@@ -37,7 +38,7 @@ public:
     
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
+	const AP_Airspeed &airspeed;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	AP_Int16 _max_rate_neg;
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index 7212dae9e9..b6b391ac14 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -10,8 +10,9 @@
 
 class AP_RollController {
 public:
-	AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
-		aparm(parms),
+	AP_RollController(AP_Airspeed &aspeed, AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash) :
+        airspeed(aspeed),
+        aparm(parms),
         autotune(gains, AP_AutoTune::AUTOTUNE_ROLL, parms, _dataflash),
         _ahrs(ahrs)
     { 
@@ -44,7 +45,7 @@ public:
     
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
+	const AP_Airspeed &airspeed;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	uint32_t _last_t;
diff --git a/libraries/APM_Control/AP_YawController.h b/libraries/APM_Control/AP_YawController.h
index 23727e911e..8edf60aa5f 100644
--- a/libraries/APM_Control/AP_YawController.h
+++ b/libraries/APM_Control/AP_YawController.h
@@ -9,7 +9,8 @@
 
 class AP_YawController {
 public:                      
-	AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
+	AP_YawController(AP_Airspeed &aspeed, AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
+        airspeed(aspeed),
 		aparm(parms),
         _ahrs(ahrs)
 	{
@@ -29,7 +30,7 @@ public:
 
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
+	const AP_Airspeed &airspeed;
 	AP_Float _K_A;
 	AP_Float _K_I;
 	AP_Float _K_D;
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
index 814ec07c78..923f6266c5 100644
--- a/libraries/AP_TECS/AP_TECS.h
+++ b/libraries/AP_TECS/AP_TECS.h
@@ -29,7 +29,8 @@
 
 class AP_TECS : public AP_SpdHgtControl {
 public:
-    AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
+    AP_TECS(AP_Airspeed &aspeed, AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
+        airspeed(aspeed),
         _ahrs(ahrs),
         aparm(parms)
     {
@@ -121,7 +122,7 @@ private:
     AP_AHRS &_ahrs;
 
     const AP_Vehicle::FixedWing &aparm;
-    AP_Airspeed airspeed;
+    const AP_Airspeed &airspeed;
 
     // TECS tuning parameters
     AP_Float _hgtCompFiltOmega;