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Revert "AP_TECS: Convert references to AP_Airspeed." 

This reverts commit 09d53eaeca.
This commit is contained in:
Tom Pittenger 2016-08-07 17:48:18 -07:00
parent 44037c13a1
commit e5bd23e34a
2 changed files with 3 additions and 4 deletions
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6
libraries/AP_TECS/AP_TECS.cpp
View File

@ -340,8 +340,8 @@ void AP_TECS::_update_speed(float load_factor)
float EAS2TAS = _ahrs.get_EAS2TAS(); float EAS2TAS = _ahrs.get_EAS2TAS();
_TAS_dem = _EAS_dem * EAS2TAS; _TAS_dem = _EAS_dem * EAS2TAS;
_TASmax = airspeed.get_airspeed_max() * EAS2TAS; _TASmax = aparm.airspeed_max * EAS2TAS;
_TASmin = airspeed.get_airspeed_min() * EAS2TAS; _TASmin = aparm.airspeed_min * EAS2TAS;
if (aparm.stall_prevention) { if (aparm.stall_prevention) {
// when stall prevention is active we raise the mimimum // when stall prevention is active we raise the mimimum
@ -368,7 +368,7 @@ void AP_TECS::_update_speed(float load_factor)
// airspeed is not being used and set speed rate to zero // airspeed is not being used and set speed rate to zero
if (!_ahrs.airspeed_sensor_enabled() || !_ahrs.airspeed_estimate(&_EAS)) { if (!_ahrs.airspeed_sensor_enabled() || !_ahrs.airspeed_estimate(&_EAS)) {
// If no airspeed available use average of min and max // If no airspeed available use average of min and max
_EAS = 0.5f * (airspeed.get_airspeed_min() + airspeed.get_airspeed_max()); _EAS = 0.5f * (aparm.airspeed_min.get() + (float)aparm.airspeed_max.get());
} }
// Implement a second order complementary filter to obtain a // Implement a second order complementary filter to obtain a

1
libraries/AP_TECS/AP_TECS.h
View File

@ -121,7 +121,6 @@ private:
AP_AHRS &_ahrs; AP_AHRS &_ahrs;
const AP_Vehicle::FixedWing &aparm; const AP_Vehicle::FixedWing &aparm;
AP_Airspeed airspeed;
// TECS tuning parameters // TECS tuning parameters
AP_Float _hgtCompFiltOmega; AP_Float _hgtCompFiltOmega;