AP_Airspeed: update data with logging

libraries/AP_Airspeed/AP_Airspeed.cpp

@@ -22,6 +22,7 @@
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
+#include <DataFlash/DataFlash.h>
 #include <utility>
 #include "AP_Airspeed.h"
 #include "AP_Airspeed_MS4525.h"
@@ -197,6 +198,12 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
     AP_GROUPEND
 };
 
+/*
+  this scaling factor converts from the old system where we used a
+  0 to 4095 raw ADC value for 0-5V to the new system which gets the
+  voltage in volts directly from the ADC driver
+ */
+#define SCALING_OLD_CALIBRATION 819 // 4095/5
 
 AP_Airspeed::AP_Airspeed()
 {
@@ -211,14 +218,6 @@ AP_Airspeed::AP_Airspeed()
     _singleton = this;
 }
 
-
-/*
-  this scaling factor converts from the old system where we used a
-  0 to 4095 raw ADC value for 0-5V to the new system which gets the
-  voltage in volts directly from the ADC driver
- */
-#define SCALING_OLD_CALIBRATION 819 // 4095/5
-
 void AP_Airspeed::init()
 {
     // cope with upgrade from old system
@@ -415,7 +414,7 @@ void AP_Airspeed::read(uint8_t i)
 }
 
 // read all airspeed sensors
-void AP_Airspeed::read(void)
+void AP_Airspeed::update(bool log)
 {
     for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
         read(i);
@@ -428,6 +427,13 @@ void AP_Airspeed::read(void)
     }
 #endif
 
+    if (log) {
+        DataFlash_Class *_dataflash = DataFlash_Class::instance();
+        if (_dataflash != nullptr) {
+            _dataflash->Log_Write_Airspeed(*this);
+        }
+    }
+
     // setup primary
     if (healthy(primary_sensor.get())) {
         primary = primary_sensor.get();

libraries/AP_Airspeed/AP_Airspeed.h

@@ -43,7 +43,7 @@ public:
     void init(void);
 
     // read the analog source and update airspeed
-    void read(void);
+    void update(bool log);
 
     // calibrate the airspeed. This must be called on startup if the
     // altitude/climb_rate/acceleration interfaces are ever used

libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp

@@ -29,7 +29,6 @@ void loop();
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 float temperature;
-
 AP_Airspeed airspeed;
 static AP_BoardConfig board_config;
 
@@ -65,7 +64,7 @@ void loop(void)
     static uint32_t timer;
     if ((AP_HAL::millis() - timer) > 100) {
         timer = AP_HAL::millis();
-        airspeed.read();
+        airspeed.update(false);
         airspeed.get_temperature(temperature);
 
         hal.console->printf("airspeed %5.2f temperature %6.2f healthy = %u\n",