From 879f250fac7787204759db8e2da9a5841f063b0e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 23 May 2018 12:31:09 +1000
Subject: [PATCH] GCS_Common: return airspeed sensor value in vfr_hud_airspeed

---
 libraries/GCS_MAVLink/GCS_Common.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 27c82d5ecb..6ef9f131c0 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1730,6 +1730,10 @@ void GCS_MAVLINK::send_accelcal_vehicle_position(uint32_t position)
 
 float GCS_MAVLINK::vfr_hud_airspeed() const
 {
+    AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
+    if (airspeed != nullptr && airspeed->healthy()) {
+        return airspeed->get_airspeed();
+    }
     // because most vehicles don't have airspeed sensors, we return a
     // different sort of speed estimate in the relevant field for
     // comparison's sake.