From 8169910866697068410e83ee50d09bfb83826d07 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 20 Aug 2021 12:20:59 +1000
Subject: [PATCH] AP_AHRS: move frontend parameters up / DCM parameters down

---
 libraries/AP_AHRS/AP_AHRS.h         | 19 +++++++++++++++++++
 libraries/AP_AHRS/AP_AHRS_Backend.h | 16 ----------------
 libraries/AP_AHRS/AP_AHRS_DCM.cpp   |  1 +
 3 files changed, 20 insertions(+), 16 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 6d6613bf20..2258fa4e0d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -116,6 +116,10 @@ public:
     // return a wind estimation vector, in m/s
     Vector3f wind_estimate() const override;
 
+    // return the parameter AHRS_WIND_MAX in metres per second
+    uint8_t get_max_wind() const {
+        return _wind_max;
+    }
 
     /*
      * airspeed support
@@ -335,6 +339,11 @@ public:
         return uint8_t(active_EKF_type());
     }
 
+    // get the selected ekf type, for allocation decisions
+    int8_t get_ekf_type(void) const {
+        return _ekf_type;
+    }
+
     // these are only out here so vehicles can reference them for parameters
 #if HAL_NAVEKF2_AVAILABLE
     NavEKF2 EKF2;
@@ -466,6 +475,16 @@ private:
      */
     VehicleClass _vehicle_class{VehicleClass::UNKNOWN};
 
+    /*
+     * Parameters
+     */
+    AP_Int8 _wind_max;
+    AP_Int8 _board_orientation;
+    AP_Int8 _ekf_type;
+    AP_Float _custom_roll;
+    AP_Float _custom_pitch;
+    AP_Float _custom_yaw;
+
     enum class EKFType {
         NONE = 0
 #if HAL_NAVEKF3_AVAILABLE
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index 9b74bde96a..701da0b9b9 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -206,11 +206,6 @@ public:
         return _airspeed != nullptr && _airspeed->use(airspeed_index) && _airspeed->healthy(airspeed_index);
     }
 
-    // return the parameter AHRS_WIND_MAX in metres per second
-    uint8_t get_max_wind() const {
-        return _wind_max;
-    }
-
     // return a ground vector estimate in meters/second, in North/East order
     virtual Vector2f groundspeed_vector(void);
 
@@ -374,11 +369,6 @@ public:
         return false;
     }
 
-    // get the selected ekf type, for allocation decisions
-    int8_t get_ekf_type(void) const {
-        return _ekf_type;
-    }
-
     // Retrieves the corrected NED delta velocity in use by the inertial navigation
     virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const {
         ret.zero();
@@ -455,13 +445,7 @@ protected:
     };
 
     AP_Enum<GPSUse> _gps_use;
-    AP_Int8 _wind_max;
-    AP_Int8 _board_orientation;
     AP_Int8 _gps_minsats;
-    AP_Int8 _ekf_type;
-    AP_Float _custom_roll;
-    AP_Float _custom_pitch;
-    AP_Float _custom_yaw;
 
     Matrix3f _custom_rotation;
 
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index f51d31e316..91490d3540 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -1091,6 +1091,7 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
         return false;
     }
 
+    const float _wind_max = AP::ahrs().get_max_wind();
     if (_wind_max > 0 && AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
         // constrain the airspeed by the ground speed
         // and AHRS_WIND_MAX