Revert "APM_Control: Convert references to AP_Airspeed."

This reverts commit cc5a2417a6.

libraries/APM_Control/AP_PitchController.cpp

@@ -152,7 +152,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
         }
         float ki_rate = k_I * gains.tau;
 		//only integrate if gain and time step are positive and airspeed above min value.
-		if (dt > 0 && aspeed > 0.5f*airspeed.get_airspeed_min()) {
+		if (dt > 0 && aspeed > 0.5f*float(aparm.airspeed_min)) {
 		    float integrator_delta = rate_error * ki_rate * delta_time * scaler;
 			if (_last_out < -45) {
 				// prevent the integrator from increasing if surface defln demand is above the upper limit
@@ -189,7 +189,7 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
 	_last_out = _pid_info.D + _pid_info.FF + _pid_info.P;
     _pid_info.desired = desired_rate;
 
-    if (autotune.running && aspeed > airspeed.get_airspeed_min()) {
+    if (autotune.running && aspeed > aparm.airspeed_min) {
         // let autotune have a go at the values 
         // Note that we don't pass the integrator component so we get
         // a better idea of how much the base PD controller
@@ -241,7 +241,7 @@ int32_t AP_PitchController::get_rate_out(float desired_rate, float scaler)
     float aspeed;
 	if (!_ahrs.airspeed_estimate(&aspeed)) {
 	    // If no airspeed available use average of min and max
-        aspeed = 0.5f*(airspeed.get_airspeed_min() + airspeed.get_airspeed_max());
+        aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
 	}
     return _get_rate_out(desired_rate, scaler, false, aspeed);
 }
@@ -272,13 +272,13 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
 	}
 	if (!_ahrs.airspeed_estimate(&aspeed)) {
 	    // If no airspeed available use average of min and max
-        aspeed = 0.5f*(airspeed.get_airspeed_min() + airspeed.get_airspeed_max());
+        aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
 	}
     if (abs(_ahrs.pitch_sensor) > 7000) {
         // don't do turn coordination handling when at very high pitch angles
         rate_offset = 0;
     } else {
-        rate_offset = cosf(_ahrs.pitch)*fabsf(ToDeg((GRAVITY_MSS / MAX((aspeed * _ahrs.get_EAS2TAS()) , airspeed.get_airspeed_min())) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff;
+        rate_offset = cosf(_ahrs.pitch)*fabsf(ToDeg((GRAVITY_MSS / MAX((aspeed * _ahrs.get_EAS2TAS()) , float(aparm.airspeed_min))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff;
     }
 	if (inverted) {
 		rate_offset = -rate_offset;

libraries/APM_Control/AP_PitchController.h

@@ -37,7 +37,6 @@ public:
     
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	AP_Int16 _max_rate_neg;

libraries/APM_Control/AP_RollController.cpp

@@ -133,7 +133,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
 	// Don't integrate if in stabilise mode as the integrator will wind up against the pilots inputs
 	if (!disable_integrator && ki_rate > 0) {
 		//only integrate if gain and time step are positive and airspeed above min value.
-		if (dt > 0 && aspeed > airspeed.get_airspeed_min()) {
+		if (dt > 0 && aspeed > float(aparm.airspeed_min)) {
 		    float integrator_delta = rate_error * ki_rate * delta_time * scaler;
 			// prevent the integrator from increasing if surface defln demand is above the upper limit
 			if (_last_out < -45) {
@@ -165,7 +165,7 @@ int32_t AP_RollController::_get_rate_out(float desired_rate, float scaler, bool
 
 	_last_out = _pid_info.FF + _pid_info.P + _pid_info.D;
 
-    if (autotune.running && aspeed > airspeed.get_airspeed_min()) {
+    if (autotune.running && aspeed > aparm.airspeed_min) {
         // let autotune have a go at the values 
         // Note that we don't pass the integrator component so we get
         // a better idea of how much the base PD controller

libraries/APM_Control/AP_RollController.h

@@ -44,7 +44,6 @@ public:
     
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
     AP_AutoTune::ATGains gains;
     AP_AutoTune autotune;
 	uint32_t _last_t;

libraries/APM_Control/AP_YawController.cpp

@@ -79,7 +79,11 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 	}
 	_last_t = tnow;
 	
-    float aspd_min = MAX(airspeed.get_airspeed_min(),1.0f);
+
+    int16_t aspd_min = aparm.airspeed_min;
+    if (aspd_min < 1) {
+        aspd_min = 1;
+    }
 	
 	float delta_time = (float) dt / 1000.0f;
 	
@@ -93,9 +97,9 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 	}
 	if (!_ahrs.airspeed_estimate(&aspeed)) {
 	    // If no airspeed available use average of min and max
-        aspeed = 0.5f*(aspd_min + airspeed.get_airspeed_max());
+        aspeed = 0.5f*(float(aspd_min) + float(aparm.airspeed_max));
 	}
-    rate_offset = (GRAVITY_MSS / MAX(aspeed , aspd_min)) * tanf(bank_angle) * cosf(bank_angle) * _K_FF;
+    rate_offset = (GRAVITY_MSS / MAX(aspeed , float(aspd_min))) * tanf(bank_angle) * cosf(bank_angle) * _K_FF;
 
     // Get body rate vector (radians/sec)
 	float omega_z = _ahrs.get_gyro().z;
@@ -123,7 +127,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
 	// Don't integrate if _K_D is zero as integrator will keep winding up
 	if (!disable_integrator && _K_D > 0) {
 		//only integrate if airspeed above min value
-		if (aspeed > aspd_min)
+		if (aspeed > float(aspd_min))
 		{
 			// prevent the integrator from increasing if surface defln demand is above the upper limit
 			if (_last_out < -45) {

libraries/APM_Control/AP_YawController.h

@@ -29,7 +29,6 @@ public:
 
 private:
 	const AP_Vehicle::FixedWing &aparm;
-	AP_Airspeed airspeed;
 	AP_Float _K_A;
 	AP_Float _K_I;
 	AP_Float _K_D;