From e8fa60db129d98dc863e5370898581fdc03ea91b Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 1 Mar 2022 17:38:29 +0000
Subject: [PATCH] AP_Airspeed: Health: use reading from correct airspeed sensor

---
 libraries/AP_Airspeed/AP_Airspeed_Health.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
index 4ee9a90e28..432cc801ac 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
@@ -28,8 +28,7 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
         return;
     }
 
-    const float aspeed = get_airspeed();
-    if (aspeed <= 0) {
+    if (state[i].airspeed <= 0) {
         // invalid estimate
         return;
     }
@@ -44,7 +43,7 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
         }
         return;
     }
-    const float speed_diff = fabsf(aspeed-gps.ground_speed());
+    const float speed_diff = fabsf(state[i].airspeed-gps.ground_speed());
 
     // update health_probability with LowPassFilter
     if (speed_diff > _wind_max) {