AP_Airspeed: pass in max airspeed via function call instead of using aparm

libraries/AP_Airspeed/AP_Airspeed.h

@@ -23,7 +23,7 @@ public:
 
     // take current airspeed in m/s and ground speed vector and return
     // new scaling factor
-    float update(float airspeed, const Vector3f &vg);
+    float update(float airspeed, const Vector3f &vg, int16_t max_airspeed_allowed_during_cal);
 
 private:
     // state of kalman filter for airspeed ratio estimation
@@ -125,7 +125,7 @@ public:
     }
 
     // update airspeed ratio calibration
-    void update_calibration(const Vector3f &vground);
+    void update_calibration(const Vector3f &vground, int16_t max_airspeed_allowed_during_cal);
 
 	// log data to MAVLink
 	void log_mavlink_send(mavlink_channel_t chan, const Vector3f &vground);

libraries/AP_Airspeed/Airspeed_Calibration.cpp

@@ -39,7 +39,7 @@ void Airspeed_Calibration::init(float initial_ratio)
   update the state of the airspeed calibration - needs to be called
   once a second
  */
-float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
+float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t max_airspeed_allowed_during_cal)
 {
     // Perform the covariance prediction
     // Q is a diagonal matrix so only need to add three terms in
@@ -101,8 +101,8 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
     P.b.y = MAX(P.b.y, 0.0f);
     P.c.z = MAX(P.c.z, 0.0f);
 
-    state.x = constrain_float(state.x, -aparm.airspeed_max, aparm.airspeed_max);
-    state.y = constrain_float(state.y, -aparm.airspeed_max, aparm.airspeed_max);
+    state.x = constrain_float(state.x, -max_airspeed_allowed_during_cal, max_airspeed_allowed_during_cal);
+    state.y = constrain_float(state.y, -max_airspeed_allowed_during_cal, max_airspeed_allowed_during_cal);
     state.z = constrain_float(state.z, 0.5f, 1.0f);
 
     return state.z;
@@ -112,7 +112,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
 /*
   called once a second to do calibration update
  */
-void AP_Airspeed::update_calibration(const Vector3f &vground)
+void AP_Airspeed::update_calibration(const Vector3f &vground, int16_t max_airspeed_allowed_during_cal)
 {
     if (!_autocal) {
         // auto-calibration not enabled
@@ -130,7 +130,7 @@ void AP_Airspeed::update_calibration(const Vector3f &vground)
     float dpress = get_differential_pressure();
     float true_airspeed = sqrtf(dpress) * _EAS2TAS;
 
-    float zratio = _calibration.update(true_airspeed, vground);
+    float zratio = _calibration.update(true_airspeed, vground, max_airspeed_allowed_during_cal);
 
     if (isnan(zratio) || isinf(zratio)) {
         return;