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AP_Frsky_Telem: get airspeed sensor from singleton not AHRS object

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Peter Barker 2020-07-27 13:28:20 +10:00 committed by Tom Pittenger
parent 55cb3e8ef0
commit ee43663c7a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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@ -516,7 +516,7 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_velandyaw(void)
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
// horizontal velocity in dm/s (use airspeed if available and enabled - even if not used - otherwise use groundspeed)
const AP_Airspeed *aspeed = _ahrs.get_airspeed();
const AP_Airspeed *aspeed = AP::airspeed();
if (aspeed && aspeed->enabled()) {
velandyaw |= prep_number(roundf(aspeed->get_airspeed() * 10), 2, 1)<<VELANDYAW_XYVEL_OFFSET;
} else { // otherwise send groundspeed estimate from ahrs