From 5f54daecee13c31101bd80c1812b8acd37d2ae93 Mon Sep 17 00:00:00 2001
From: Joshua Henderson <hendjoshsr71@gmail.com>
Date: Sun, 9 Jan 2022 20:37:11 -0500
Subject: [PATCH] Rover: move Airspeed to AP_Vehicle

---
 Rover/Parameters.cpp | 18 ++++++++++++++----
 Rover/Parameters.h   |  3 ---
 Rover/Rover.cpp      |  1 -
 Rover/Rover.h        |  2 --
 Rover/sensors.cpp    |  8 --------
 Rover/system.cpp     |  6 ++++--
 6 files changed, 18 insertions(+), 20 deletions(-)

diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index e06ef57e9f..8df3cc7fda 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -574,9 +574,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 
     // 32 to 36 were old sailboat params
 
-    // @Group: ARSPD
-    // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
-    AP_SUBGROUPINFO(airspeed, "ARSPD", 37, ParametersG2, AP_Airspeed),
+    // 37 was airspeed
 
     // @Param: MIS_DONE_BEHAVE
     // @DisplayName: Mission done behave
@@ -711,7 +709,6 @@ ParametersG2::ParametersG2(void)
     avoid(),
     follow(),
     windvane(),
-    airspeed(),
     wp_nav(attitude_control, rover.L1_controller),
     sailboat()
 {
@@ -843,4 +840,17 @@ void Rover::load_parameters(void)
                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON|
                                                       AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED);
 #endif
+
+// PARAMETER_CONVERSION - Added: JAN-2022
+#if AP_AIRSPEED_ENABLED
+    // Find G2's Top Level Key
+    AP_Param::ConversionInfo info;
+    if (!AP_Param::find_top_level_key_by_pointer(&g2, info.old_key)) {
+        return;
+    }
+
+    const uint16_t old_index = 37;          // Old parameter index in the tree
+    const uint16_t old_top_element = 4069;  // Old group element in the tree for the first subgroup element
+    AP_Param::convert_class(info.old_key, &airspeed, airspeed.var_info, old_index, old_top_element, false);
+#endif
 }
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index efbd3254d3..653dc5a5d0 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -371,9 +371,6 @@ public:
     // windvane
     AP_WindVane windvane;
 
-    // Airspeed
-    AP_Airspeed airspeed;
-
     // mission behave
     AP_Int8 mis_done_behave;
 
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 94b4862a64..b90d94405e 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -130,7 +130,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #if ADVANCED_FAILSAFE == ENABLED
     SCHED_TASK(afs_fs_check,           10,    200, 129),
 #endif
-    SCHED_TASK(read_airspeed,          10,    100, 132),
 #if HAL_AIS_ENABLED
     SCHED_TASK_CLASS(AP_AIS, &rover.g2.ais, update, 5, 100, 135),
 #endif
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 1d25cdb380..19cb2b6753 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -27,7 +27,6 @@
 #include <AC_PID/AC_PID.h>
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_AHRS/AP_AHRS.h>                        // ArduPilot Mega DCM Library
-#include <AP_Airspeed/AP_Airspeed.h>                // needed for AHRS build
 #include <AP_Baro/AP_Baro.h>
 #include <AP_BattMonitor/AP_BattMonitor.h>          // Battery monitor library
 #include <AP_Beacon/AP_Beacon.h>
@@ -352,7 +351,6 @@ private:
     void compass_save(void);
     void update_wheel_encoder();
     void read_rangefinders(void);
-    void read_airspeed();
 
     // Steering.cpp
     void set_servos(void);
diff --git a/Rover/sensors.cpp b/Rover/sensors.cpp
index 795512a360..9153fd7e34 100644
--- a/Rover/sensors.cpp
+++ b/Rover/sensors.cpp
@@ -93,11 +93,3 @@ void Rover::read_rangefinders(void)
     rangefinder.update();
     Log_Write_Depth();
 }
-
-/*
-  ask airspeed sensor for a new value, duplicated from plane
- */
-void Rover::read_airspeed(void)
-{
-    g2.airspeed.update(should_log(MASK_LOG_IMU));
-}
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 0a97d88e9a..4d08c33797 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -42,8 +42,6 @@ void Rover::init_ardupilot()
 
     rssi.init();
 
-    g2.airspeed.init();
-
     g2.windvane.init(serial_manager);
 
     // init baro before we start the GCS, so that the CLI baro test works
@@ -68,6 +66,10 @@ void Rover::init_ardupilot()
     AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
+#if AP_AIRSPEED_ENABLED
+    airspeed.set_log_bit(MASK_LOG_IMU);
+#endif
+
     // initialise rangefinder
     rangefinder.set_log_rfnd_bit(MASK_LOG_RANGEFINDER);
     rangefinder.init(ROTATION_NONE);