Sub: add airspeed sensors

ArduSub/ArduSub.cpp

@@ -78,6 +78,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #ifdef USERHOOK_SUPERSLOWLOOP
     SCHED_TASK(userhook_SuperSlowLoop, 1,   75),
 #endif
+    SCHED_TASK(read_airspeed,          10,    100),
 };
 
 void Sub::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

ArduSub/Parameters.cpp

@@ -632,13 +632,18 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(scripting, "SCR_", 18, ParametersG2, AP_Scripting),
 #endif
 
+    // @Group: ARSPD
+    // @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
+    AP_SUBGROUPINFO(airspeed, "ARSPD", 19, ParametersG2, AP_Airspeed),
+
     AP_GROUPEND
 };
 
 /*
   constructor for g2 object
  */
-ParametersG2::ParametersG2()
+ParametersG2::ParametersG2():
+    airspeed()
 {
     AP_Param::setup_object_defaults(this, var_info);
 }

ArduSub/Parameters.h

@@ -335,6 +335,9 @@ public:
     AP_Scripting scripting;
 #endif // ENABLE_SCRIPTING
 
+    // Airspeed
+    AP_Airspeed airspeed;
+
 };
 
 extern const AP_Param::Info        var_info[];

ArduSub/Sub.h

@@ -610,6 +610,7 @@ private:
     void auto_spline_start(const Location& destination, bool stopped_at_start, AC_WPNav::spline_segment_end_type seg_end_type, const Location& next_destination);
     void log_init(void);
     void accel_cal_update(void);
+    void read_airspeed();
 
     void failsafe_leak_check();
     void failsafe_internal_pressure_check();

ArduSub/sensors.cpp

@@ -107,3 +107,11 @@ void Sub::accel_cal_update()
         ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
     }
 }
+
+/*
+  ask airspeed sensor for a new value, duplicated from plane
+ */
+void Sub::read_airspeed()
+{
+    g2.airspeed.update(should_log(MASK_LOG_IMU));
+}

ArduSub/system.cpp

@@ -165,6 +165,8 @@ void Sub::init_ardupilot()
     g2.scripting.init();
 #endif // ENABLE_SCRIPTING
 
+    g2.airspeed.init();
+
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we are
     // ready to fly