From 157a3b1e344fa338e10a157b8c9b963b873d64bd Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Thu, 13 Jun 2019 20:12:22 -0700
Subject: [PATCH] AP_Airspeed: Fix AP_GPS.h include and use the singleton

---
 libraries/AP_Airspeed/AP_Airspeed_Health.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
index 4ca461f988..d9a1de1728 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
@@ -2,6 +2,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_Airspeed.h"
+#include <AP_GPS/AP_GPS.h>
 
 void AP_Airspeed::check_sensor_failures()
 {
@@ -30,8 +31,9 @@ void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
 
     // update state[i].failures.health_probability via LowPassFilter
     float speed_accuracy;
-    if (AP::gps().speed_accuracy(speed_accuracy)) {
-        const float gnd_speed = AP::gps().ground_speed();
+    const AP_GPS &gps = AP::gps();
+    if (gps.speed_accuracy(speed_accuracy)) {
+        const float gnd_speed = gps.ground_speed();
 
         if (aspeed > (gnd_speed + wind_max) || aspeed < (gnd_speed - wind_max)) {
             // bad, decay fast