From a6206bde3c86f0b568dc9d1ea0a17aa316106151 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 24 Oct 2023 02:41:37 +0100
Subject: [PATCH] Plane: move to new `using_airspeed_sensor` ahrs method

---
 ArduPlane/Attitude.cpp  | 2 +-
 ArduPlane/quadplane.cpp | 2 +-
 ArduPlane/radio.cpp     | 2 +-
 ArduPlane/servos.cpp    | 4 ++--
 ArduPlane/takeoff.cpp   | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 39a9461ea6..3c59d8a315 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -49,7 +49,7 @@ float Plane::calc_speed_scaler(void)
         // no speed estimate and not armed, use a unit scaling
         speed_scaler = 1;
     }
-    if (!plane.ahrs.airspeed_sensor_enabled()  && 
+    if (!plane.ahrs.using_airspeed_sensor()  && 
         (plane.flight_option_enabled(FlightOptions::SURPRESS_TKOFF_SCALING)) &&
         (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is suppressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
         return MIN(speed_scaler, 1.0f) ;
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index fbb1b3c9fe..839d76b92d 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1475,7 +1475,7 @@ bool QuadPlane::should_assist(float aspeed, bool have_airspeed)
     // assistance due to Q_ASSIST_SPEED
     // if option bit is enabled only allow assist with real airspeed sensor
     if ((have_airspeed && aspeed < assist_speed) && 
-       (!option_is_set(QuadPlane::OPTION::DISABLE_SYNTHETIC_AIRSPEED_ASSIST) || ahrs.airspeed_sensor_enabled())) {
+       (!option_is_set(QuadPlane::OPTION::DISABLE_SYNTHETIC_AIRSPEED_ASSIST) || ahrs.using_airspeed_sensor())) {
         in_angle_assist = false;
         angle_error_start_ms = 0;
         return true;
diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
index cb7e68ff22..68ee2cb998 100644
--- a/ArduPlane/radio.cpp
+++ b/ArduPlane/radio.cpp
@@ -196,7 +196,7 @@ void Plane::read_radio()
         && channel_throttle->get_control_in() > 50
         && stickmixing) {
         float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
-        if (ahrs.airspeed_sensor_enabled()) {
+        if (ahrs.using_airspeed_sensor()) {
             airspeed_nudge_cm = (aparm.airspeed_max * 100 - aparm.airspeed_cruise_cm) * nudge;
         } else {
             throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index ced4252578..d193a678e9 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -134,7 +134,7 @@ bool Plane::suppress_throttle(void)
         // require 5m/s. This prevents throttle up due to spiky GPS
         // groundspeed with bad GPS reception
 #if AP_AIRSPEED_ENABLED
-        if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
+        if ((!ahrs.using_airspeed_sensor()) || airspeed.get_airspeed() >= 5) {
             // we're moving at more than 5 m/s
             throttle_suppressed = false;
             return false;        
@@ -605,7 +605,7 @@ void Plane::set_servos_flaps(void)
 
     if (control_mode->does_auto_throttle()) {
         int16_t flapSpeedSource = 0;
-        if (ahrs.airspeed_sensor_enabled()) {
+        if (ahrs.using_airspeed_sensor()) {
             flapSpeedSource = target_airspeed_cm * 0.01f;
         } else {
             flapSpeedSource = aparm.throttle_cruise;
diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 5574ad2c9b..ce2264f8c8 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -185,7 +185,7 @@ void Plane::takeoff_calc_pitch(void)
         return;
     }
 
-    if (ahrs.airspeed_sensor_enabled()) {
+    if (ahrs.using_airspeed_sensor()) {
         int16_t takeoff_pitch_min_cd = get_takeoff_pitch_min_cd();
         calc_nav_pitch();
         if (nav_pitch_cd < takeoff_pitch_min_cd) {