From 84fe5f4e78b4cce7b8c0cd542e227d1c6d5b12cb Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Tue, 7 Jan 2020 00:47:35 +0000
Subject: [PATCH] APM_Control: move to airspeed_estimate with pointer

---
 libraries/APM_Control/AP_PitchController.cpp | 4 ++--
 libraries/APM_Control/AP_RollController.cpp  | 2 +-
 libraries/APM_Control/AP_YawController.cpp   | 2 +-
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
index fdf6fc982e..f06a05c664 100644
--- a/libraries/APM_Control/AP_PitchController.cpp
+++ b/libraries/APM_Control/AP_PitchController.cpp
@@ -239,7 +239,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
 int32_t AP_PitchController::get_rate_out(float desired_rate, float scaler)
 {
     float aspeed;
-	if (!_ahrs.airspeed_estimate(&aspeed)) {
+	if (!_ahrs.airspeed_estimate(aspeed)) {
 	    // If no airspeed available use average of min and max
         aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
 	}
@@ -270,7 +270,7 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
 			bank_angle = constrain_float(bank_angle,-radians(180),-radians(100));
 		}
 	}
-	if (!_ahrs.airspeed_estimate(&aspeed)) {
+	if (!_ahrs.airspeed_estimate(aspeed)) {
 	    // If no airspeed available use average of min and max
         aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
 	}
diff --git a/libraries/APM_Control/AP_RollController.cpp b/libraries/APM_Control/AP_RollController.cpp
index d0a94064cc..18fdc6e455 100644
--- a/libraries/APM_Control/AP_RollController.cpp
+++ b/libraries/APM_Control/AP_RollController.cpp
@@ -114,7 +114,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
 	
 	// Get an airspeed estimate - default to zero if none available
 	float aspeed;
-	if (!_ahrs.airspeed_estimate(&aspeed)) {
+	if (!_ahrs.airspeed_estimate(aspeed)) {
         aspeed = 0.0f;
     }
 
diff --git a/libraries/APM_Control/AP_YawController.cpp b/libraries/APM_Control/AP_YawController.cpp
index 0b87fea902..fb6daa55e1 100644
--- a/libraries/APM_Control/AP_YawController.cpp
+++ b/libraries/APM_Control/AP_YawController.cpp
@@ -98,7 +98,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 	if (fabsf(bank_angle) < 1.5707964f)	{
 	    bank_angle = constrain_float(bank_angle,-1.3962634f,1.3962634f);
 	}
-	if (!_ahrs.airspeed_estimate(&aspeed)) {
+	if (!_ahrs.airspeed_estimate(aspeed)) {
 	    // If no airspeed available use average of min and max
         aspeed = 0.5f*(float(aspd_min) + float(aparm.airspeed_max));
 	}