From cb6891821ed1deb8efb8d0a373d308ff29058045 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 30 Dec 2022 19:40:03 +0000
Subject: [PATCH] AP_Periph: always call airspeed init to allow param
 conversion

---
 Tools/AP_Periph/AP_Periph.cpp | 20 +++++++++-----------
 Tools/AP_Periph/can.cpp       |  2 +-
 2 files changed, 10 insertions(+), 12 deletions(-)

diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 434eaa7d7d..7a2e64e57d 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -183,23 +183,21 @@ void AP_Periph_FW::init()
 #endif
     
 #ifdef HAL_PERIPH_ENABLE_AIRSPEED
-    if (airspeed.enabled()){
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-        const bool pins_enabled = ChibiOS::I2CBus::check_select_pins(0x01);
-        if (pins_enabled) {
-            ChibiOS::I2CBus::set_bus_to_floating(0);
+    const bool pins_enabled = ChibiOS::I2CBus::check_select_pins(0x01);
+    if (pins_enabled) {
+        ChibiOS::I2CBus::set_bus_to_floating(0);
 #ifdef HAL_GPIO_PIN_LED_CAN_I2C
-            palWriteLine(HAL_GPIO_PIN_LED_CAN_I2C, 1);
+        palWriteLine(HAL_GPIO_PIN_LED_CAN_I2C, 1);
 #endif
-        } else {
-            // Note: logging of ARSPD is not enabled currently. To enable, call airspeed.set_log_bit(); here
-            airspeed.init();
-        }
-#else
+    } else {
         // Note: logging of ARSPD is not enabled currently. To enable, call airspeed.set_log_bit(); here
         airspeed.init();
-#endif
     }
+#else
+    // Note: logging of ARSPD is not enabled currently. To enable, call airspeed.set_log_bit(); here
+    airspeed.init();
+#endif
 
 #endif
 
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 6bb4a0f981..934cf2d598 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -2223,7 +2223,7 @@ void AP_Periph_FW::can_airspeed_update(void)
         static uint32_t last_probe_ms;
         if (now - last_probe_ms >= 1000) {
             last_probe_ms = now;
-            airspeed.init();
+            airspeed.allocate();
         }
     }
 #endif