From c9af22357921e3ae355c04d84eadc84e89d1ffc6 Mon Sep 17 00:00:00 2001
From: ChrisBird <ChrisBird77@gmail.com>
Date: Sun, 3 Feb 2019 03:55:38 -0800
Subject: [PATCH] AP_Airspeed: Renaming the check method name and readding the
 overall option check.  This will set it up for future options.

---
 libraries/AP_Airspeed/AP_Airspeed.h          |  6 +++---
 libraries/AP_Airspeed/AP_Airspeed_Health.cpp | 10 ++++++----
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index a132382449..b1a0c74980 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -155,8 +155,8 @@ public:
                             PITOT_TUBE_ORDER_AUTO     = 2 };
 
     enum OptionsMask {
-        ON_FAILURE_DO_DISABLE                   = (1<<0),   // If set then use airspeed failure check
-        ON_FAILURE_RECOVERY_DO_REENABLE         = (1<<1),   // If set then automatically enable the airspeed sensor use when healthy again.
+        ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE                   = (1<<0),   // If set then use airspeed failure check
+        ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE         = (1<<1),   // If set then automatically enable the airspeed sensor use when healthy again.
     };
 
     enum airspeed_type {
@@ -239,7 +239,7 @@ private:
     void update_calibration(uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal);
 
     void check_sensor_failures();
-    void check_sensor_failures(uint8_t i);
+    void check_sensor_ahrs_wind_max_failures(uint8_t i);
 
     AP_Airspeed_Backend *sensor[AIRSPEED_MAX_SENSORS];
 };
diff --git a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
index 8cda889795..456b175511 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_Health.cpp
@@ -6,11 +6,13 @@
 void AP_Airspeed::check_sensor_failures()
 {
     for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
-        check_sensor_failures(i);
+        if(AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE & _options) {
+            check_sensor_ahrs_wind_max_failures(i);
+        }
     }
 }
 
-void AP_Airspeed::check_sensor_failures(uint8_t i)
+void AP_Airspeed::check_sensor_ahrs_wind_max_failures(uint8_t i)
 {
     const uint32_t now_ms = AP_HAL::millis();
     if ((now_ms - state[i].failures.last_check_ms) <= 200) {
@@ -55,7 +57,7 @@ void AP_Airspeed::check_sensor_failures(uint8_t i)
     static const float RE_ENABLE_PROB_THRESH_OK = 0.95f;
 
     // if "disable" option is allowed and sensor is enabled
-    if (param[i].use > 0 && (AP_Airspeed::OptionsMask::ON_FAILURE_DO_DISABLE & _options)) {
+    if (param[i].use > 0 && (AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_DO_DISABLE & _options)) {
         // and is probably not healthy
         if (state[i].failures.health_probability < DISABLE_PROB_THRESH_CRIT) {
             gcs().send_text(MAV_SEVERITY_ERROR, "Airspeed sensor %d failure. Disabling", i+1);
@@ -74,7 +76,7 @@ void AP_Airspeed::check_sensor_failures(uint8_t i)
 
     // if Re-Enable options is allowed, and sensor is disabled but was previously enabled, and is probably healthy
     } else if (param[i].use == 0 &&
-        (AP_Airspeed::OptionsMask::ON_FAILURE_RECOVERY_DO_REENABLE & _options) &&
+        (AP_Airspeed::OptionsMask::ON_FAILURE_AHRS_WIND_MAX_RECOVERY_DO_REENABLE & _options) &&
         state[i].failures.param_use_backup > 0 &&
         state[i].failures.health_probability > RE_ENABLE_PROB_THRESH_OK) {