From be42e5330336884507bd8d037abd490965f2c741 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Tue, 6 Sep 2022 11:36:14 -0700
Subject: [PATCH] Sub: use new AP_TemperatureSensor library

Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>
---
 ArduSub/GCS_Mavlink.cpp | 7 +++++--
 ArduSub/Sub.h           | 3 ---
 ArduSub/system.cpp      | 6 +++++-
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 53a7f87a10..7468f73eae 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -96,7 +96,9 @@ int16_t GCS_MAVLINK_Sub::vfr_hud_throttle() const
 // Work around to get temperature sensor data out
 void GCS_MAVLINK_Sub::send_scaled_pressure3()
 {
-    if (!sub.celsius.healthy()) {
+#if AP_TEMPERATURE_SENSOR_ENABLED
+    float temperature;
+    if (!sub.temperature_sensor.temperature(temperature)) {
         return;
     }
     mavlink_msg_scaled_pressure3_send(
@@ -104,8 +106,9 @@ void GCS_MAVLINK_Sub::send_scaled_pressure3()
         AP_HAL::millis(),
         0,
         0,
-        sub.celsius.temperature() * 100,
+        temperature * 100,
         0); // TODO: use differential pressure temperature
+#endif
 }
 
 bool GCS_MAVLINK_Sub::send_info()
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index e2fed1afee..2f669b72e5 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -62,7 +62,6 @@
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_JSButton/AP_JSButton.h>   // Joystick/gamepad button function assignment
 #include <AP_LeakDetector/AP_LeakDetector.h> // Leak detector
-#include <AP_TemperatureSensor/TSYS01.h>
 #include <AP_Proximity/AP_Proximity.h>
 
 // Local modules
@@ -138,8 +137,6 @@ private:
 
     AP_LeakDetector leak_detector;
 
-    TSYS01 celsius;
-
     struct {
         bool enabled:1;
         bool alt_healthy:1; // true if we can trust the altitude from the rangefinder
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 7743b1179a..f3639b96ca 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -48,7 +48,11 @@ void Sub::init_ardupilot()
 #elif CONFIG_HAL_BOARD != HAL_BOARD_LINUX
     AP_Param::set_default_by_name("BARO_EXT_BUS", 1);
 #endif
-    celsius.init(barometer.external_bus());
+
+#if AP_TEMPERATURE_SENSOR_ENABLED
+    // In order to preserve Sub's previous AP_TemperatureSensor Behavior we set the Default I2C Bus Here
+    AP_Param::set_default_by_name("TEMP1_BUS", barometer.external_bus());
+#endif
 
     // setup telem slots with serial ports
     gcs().setup_uarts();