Plane: move Airspeed to AP_Vehicle

ArduPlane/ArduPlane.cpp

@@ -65,7 +65,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_GPS_10Hz,        10,    400,  33),
     SCHED_TASK(navigate,               10,    150,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
-    SCHED_TASK(read_airspeed,          10,    100,  42),
+    SCHED_TASK(calc_airspeed_errors,   10,    100,  42),
     SCHED_TASK(update_alt,             10,    200,  45),
     SCHED_TASK(adjust_altitude_target, 10,    200,  48),
 #if ADVANCED_FAILSAFE == ENABLED

ArduPlane/Parameters.cpp

@@ -890,9 +890,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
     GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),
 
-    // @Group: ARSPD
+    // Airspeed was here
-    // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
-    GOBJECT(airspeed,                               "ARSPD",   AP_Airspeed),
 
     // @Group: NAVL1_
     // @Path: ../libraries/AP_L1_Control/AP_L1_Control.cpp
@@ -1491,6 +1489,14 @@ void Plane::load_parameters(void)
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Jan-2022
+    {
+        const uint16_t old_key = g.k_param_airspeed;
+        const uint16_t old_index = 0;       // Old parameter index in the tree
+        const uint16_t old_top_element = 0; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(old_key, &airspeed, airspeed.var_info, old_index, old_top_element, true);
+    }
+
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }
 

ArduPlane/Parameters.h

@@ -196,7 +196,7 @@ public:
         k_param_sonar_enabled_old,  // unused
         k_param_ahrs,  // AHRS group
         k_param_barometer,   // barometer ground calibration
-        k_param_airspeed,  // AP_Airspeed parameters
+        k_param_airspeed,           // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle
         k_param_curr_amp_offset,
         k_param_NavEKF,  // deprecated - remove
         k_param_mission, // mission library

ArduPlane/Plane.h

@@ -41,7 +41,6 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>     // Range finder library
 #include <Filter/Filter.h>                     // Filter library
 #include <AP_Camera/AP_Camera.h>          // Photo or video camera
-#include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
 #include <AP_Stats/AP_Stats.h>     // statistics library
@@ -400,9 +399,6 @@ private:
                            FUNCTOR_BIND_MEMBER(&Plane::handle_battery_failsafe, void, const char*, const int8_t),
                            _failsafe_priorities};
 
-    // Airspeed Sensors
-    AP_Airspeed airspeed;
-
     // ACRO controller state
     struct {
         bool locked_roll;
@@ -1047,7 +1043,6 @@ private:
 
     // sensors.cpp
     void read_rangefinder(void);
-    void read_airspeed(void);
 
     // system.cpp
     void init_ardupilot() override;

ArduPlane/navigation.cpp

@@ -140,11 +140,20 @@ float Plane::mode_auto_target_airspeed_cm()
 
 void Plane::calc_airspeed_errors()
 {
+    // Get the airspeed_estimate, update smoothed airspeed estimate
+    // NOTE:  we use the airspeed estimate function not direct sensor
+    //        as TECS may be using synthetic airspeed
     float airspeed_measured = 0;
+    if (ahrs.airspeed_estimate(airspeed_measured)) {
+        smoothed_airspeed = smoothed_airspeed * 0.8f + airspeed_measured * 0.2f;
+    }
+
+    // low pass filter speed scaler, with 1Hz cutoff, at 10Hz
+    const float speed_scaler = calc_speed_scaler();
+    const float cutoff_Hz = 2.0;
+    const float dt = 0.1;
+    surface_speed_scaler += calc_lowpass_alpha_dt(dt, cutoff_Hz) * (speed_scaler - surface_speed_scaler);
 
-    // we use the airspeed estimate function not direct sensor as TECS
-    // may be using synthetic airspeed
-    ahrs.airspeed_estimate(airspeed_measured);
 
     // FBW_B/cruise airspeed target
     if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {

ArduPlane/sensors.cpp

@@ -33,28 +33,3 @@ void Plane::read_rangefinder(void)
 
     rangefinder_height_update();
 }
-
-/*
-  ask airspeed sensor for a new value
- */
-void Plane::read_airspeed(void)
-{
-    airspeed.update(should_log(MASK_LOG_IMU));
-
-    // we calculate airspeed errors (and thus target_airspeed_cm) even
-    // when airspeed is disabled as TECS may be using synthetic
-    // airspeed for a quadplane transition
-    calc_airspeed_errors();
-    
-    // update smoothed airspeed estimate
-    float aspeed;
-    if (ahrs.airspeed_estimate(aspeed)) {
-        smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
-    }
-
-    // low pass filter speed scaler, with 1Hz cutoff, at 10Hz
-    const float speed_scaler = calc_speed_scaler();
-    const float cutoff_Hz = 2.0;
-    const float dt = 0.1;
-    surface_speed_scaler += calc_lowpass_alpha_dt(dt, cutoff_Hz) * (speed_scaler - surface_speed_scaler);
-}

ArduPlane/system.cpp

@@ -80,12 +80,13 @@ void Plane::init_ardupilot()
     log_init();
 #endif
 
-    // initialise airspeed sensor
-    airspeed.init();
-
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
+#if AP_AIRSPEED_ENABLED
+    airspeed.set_log_bit(MASK_LOG_IMU);
+#endif
+
     // GPS Initialization
     gps.set_log_gps_bit(MASK_LOG_GPS);
     gps.init(serial_manager);
@@ -407,14 +408,6 @@ void Plane::startup_INS_ground(void)
     //-----------------------------
     barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();
-
-    if (airspeed.enabled()) {
-        // initialize airspeed sensor
-        // --------------------------
-        airspeed.calibrate(true);
-    } else {
-        gcs().send_text(MAV_SEVERITY_WARNING,"No airspeed sensor present");
-    }
 }
 
 // sets notify object flight mode information