AP_TECS: use ahrs EAS2TAS for true airspeed

geeksville · Jul 22, 2013 · 620d067 · 620d067
1 parent ec73fad
commit 620d067
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -172,7 +172,7 @@ void AP_TECS::update_50hz(float hgt_afe)
 	// Update and average speed rate of change
     // Only required if airspeed is being measured and controlled
     float temp = 0;
-	if (_ahrs->airspeed_sensor_enabled() && _ahrs->airspeed_estimate(&_EAS)) {
+	if (_ahrs->airspeed_sensor_enabled() && _ahrs->airspeed_estimate_true(&_EAS)) {
         // Get DCM
         const Matrix3f &rotMat = _ahrs->get_dcm_matrix();
 	    // Calculate speed rate of change
@@ -194,7 +194,7 @@ void AP_TECS::_update_speed(void)
 
     // Convert equivalent airspeeds to true airspeeds
 
-    float EAS2TAS = _baro->get_EAS2TAS();
+    float EAS2TAS = _ahrs->get_EAS2TAS();
     _TAS_dem  = _EAS_dem * EAS2TAS;
     _TASmax   = aparm.airspeed_max * EAS2TAS;
     _TASmin   = aparm.airspeed_min * EAS2TAS;

diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
@@ -30,9 +30,8 @@
 
 class AP_TECS : public AP_SpdHgtControl {
 public:
-	AP_TECS(AP_AHRS *ahrs, AP_Baro *baro, const AP_SpdHgtControl::AircraftParameters &parms) :
+	AP_TECS(AP_AHRS *ahrs, const AP_SpdHgtControl::AircraftParameters &parms) :
 		_ahrs(ahrs),
-		_baro(baro),
 		aparm(parms)
 		{
 			AP_Param::setup_object_defaults(this, var_info);
@@ -98,9 +97,6 @@ class AP_TECS : public AP_SpdHgtControl {
 	// pointer to the AHRS object
     AP_AHRS *_ahrs;
 
-	// pointer to the Baro object
-    AP_Baro *_baro;
-
 	const AP_SpdHgtControl::AircraftParameters &aparm;
 
 	// TECS tuning parameters