From 11f31c28510ee66e814fbedd10073a6812b0b130 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 4 Jun 2019 13:37:36 +1000
Subject: [PATCH] AP_NavEKF2: take EAS2TAS from AHRS rather than airspeed

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp  | 2 +-
 libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index daabd6c30b..f936cdcb0b 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -676,7 +676,7 @@ void NavEKF2_core::readAirSpdData()
     if (aspeed &&
             aspeed->use() &&
             aspeed->last_update_ms() != timeTasReceived_ms) {
-        tasDataNew.tas = aspeed->get_airspeed() * aspeed->get_EAS2TAS();
+        tasDataNew.tas = aspeed->get_airspeed() * AP::ahrs().get_EAS2TAS();
         timeTasReceived_ms = aspeed->last_update_ms();
         tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index 6d6343e5d4..8fb46a56fd 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -313,7 +313,7 @@ void NavEKF2_core::detectFlight()
         // trigger at 8 m/s airspeed
         if (_ahrs->airspeed_sensor_enabled()) {
             const AP_Airspeed *airspeed = _ahrs->get_airspeed();
-            if (airspeed->get_airspeed() * airspeed->get_EAS2TAS() > 10.0f) {
+            if (airspeed->get_airspeed() * AP::ahrs().get_EAS2TAS() > 10.0f) {
                 highAirSpd = true;
             }
         }