From ce7b766d8b2316fbc5d89dc2ec8c08b259c7f647 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Sun, 7 Aug 2016 20:29:50 -0700
Subject: [PATCH] AP_Airspeed: remove AP_Vehicle::FixedWing dependency

---
 libraries/AP_Airspeed/AP_Airspeed.cpp                | 4 ++--
 libraries/AP_Airspeed/AP_Airspeed.h                  | 5 ++---
 libraries/AP_Airspeed/Airspeed_Calibration.cpp       | 5 ++---
 libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp | 4 +---
 4 files changed, 7 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 01d97ec2cf..7467c08d9b 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -139,9 +139,9 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
 };
 
 
-AP_Airspeed::AP_Airspeed(const AP_Vehicle::FixedWing &parms)
+AP_Airspeed::AP_Airspeed()
     : _EAS2TAS(1.0f)
-    , _calibration(parms)
+    , _calibration()
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index 8b66945407..f60733bc50 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -16,7 +16,7 @@ class Airspeed_Calibration {
 public:
     friend class AP_Airspeed;
     // constructor
-    Airspeed_Calibration(const AP_Vehicle::FixedWing &parms);
+    Airspeed_Calibration();
 
     // initialise the calibration
     void init(float initial_ratio);
@@ -32,14 +32,13 @@ private:
     const float Q1; // process noise matrix bottom right element
     Vector3f state; // state vector
     const float DT; // time delta
-    const AP_Vehicle::FixedWing &aparm;
 };
 
 class AP_Airspeed
 {
 public:
     // constructor
-    AP_Airspeed(const AP_Vehicle::FixedWing &parms);
+    AP_Airspeed();
 
     void init(void);
 
diff --git a/libraries/AP_Airspeed/Airspeed_Calibration.cpp b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
index d8b349d7a3..3faa6d980d 100644
--- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp
+++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp
@@ -15,7 +15,7 @@
 extern const AP_HAL::HAL& hal;
 
 // constructor - fill in all the initial values
-Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms)
+Airspeed_Calibration::Airspeed_Calibration()
     : P(100,   0,         0,
         0,   100,         0,
         0,     0,  0.000001f)
@@ -23,7 +23,6 @@ Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms)
     , Q1(0.0000005f)
     , state(0, 0, 0)
     , DT(1)
-    , aparm(parms)
 {
 }
 
@@ -70,7 +69,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t m
         -(state.z*SH2*(2*vg.y - 2*state.y))/2,
         1/SH2);
 
-    // Calculate the fusion innovaton covariance assuming a TAS measurement
+    // Calculate the fusion innovation covariance assuming a TAS measurement
     // noise of 1.0 m/s
     // S = H_TAS*P*H_TAS' + 1.0; % [1 x 3] * [3 x 3] * [3 x 1] + [1 x 1]
     Vector3f PH = P * H_TAS;
diff --git a/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp b/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
index 2049c79f89..49c9915065 100644
--- a/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
+++ b/libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
@@ -25,11 +25,9 @@
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-static AP_Vehicle::FixedWing aparm;
-
 float temperature;
 
-AP_Airspeed airspeed(aparm);
+AP_Airspeed airspeed();
 
 void setup()
 {