From a2e72de5ae3cbcb2edbd3c7fa3bca2bd2b477134 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Tue, 7 Jan 2020 00:45:27 +0000
Subject: [PATCH] Plane: move to airspeed_estimate with pointer

---
 ArduPlane/Attitude.cpp    | 2 +-
 ArduPlane/GCS_Mavlink.cpp | 2 +-
 ArduPlane/Log.cpp         | 2 +-
 ArduPlane/is_flying.cpp   | 2 +-
 ArduPlane/navigation.cpp  | 2 +-
 ArduPlane/quadplane.cpp   | 6 +++---
 ArduPlane/sensors.cpp     | 2 +-
 7 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 465eb61da68..f9b6a03247a 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -8,7 +8,7 @@
 float Plane::get_speed_scaler(void)
 {
     float aspeed, speed_scaler;
-    if (ahrs.airspeed_estimate(&aspeed)) {
+    if (ahrs.airspeed_estimate(aspeed)) {
         if (aspeed > auto_state.highest_airspeed) {
             auto_state.highest_airspeed = aspeed;
         }
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 348875082d1..064a1b748b0 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -247,7 +247,7 @@ float GCS_MAVLINK_Plane::vfr_hud_airspeed() const
 
     // airspeed estimates are OK:
     float aspeed;
-    if (AP::ahrs().airspeed_estimate(&aspeed)) {
+    if (AP::ahrs().airspeed_estimate(aspeed)) {
         return aspeed;
     }
 
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 0e3c9c1fd33..30b5fa4b05e 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -96,7 +96,7 @@ struct PACKED log_Control_Tuning {
 void Plane::Log_Write_Control_Tuning()
 {
     float est_airspeed = 0;
-    ahrs.airspeed_estimate(&est_airspeed);
+    ahrs.airspeed_estimate(est_airspeed);
     
     struct log_Control_Tuning pkt = {
         LOG_PACKET_HEADER_INIT(LOG_CTUN_MSG),
diff --git a/ArduPlane/is_flying.cpp b/ArduPlane/is_flying.cpp
index 8a367ea3724..7a65725a3d0 100644
--- a/ArduPlane/is_flying.cpp
+++ b/ArduPlane/is_flying.cpp
@@ -24,7 +24,7 @@ void Plane::update_is_flying_5Hz(void)
 
     // airspeed at least 75% of stall speed?
     const float airspeed_threshold = MAX(aparm.airspeed_min,2)*0.75f;
-    bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= airspeed_threshold);
+    bool airspeed_movement = ahrs.airspeed_estimate(aspeed) && (aspeed >= airspeed_threshold);
 
     if (gps.status() < AP_GPS::GPS_OK_FIX_2D && arming.is_armed() && !airspeed_movement && isFlyingProbability > 0.3) {
         // when flying with no GPS, use the last airspeed estimate to
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index a1366dadb68..12a67eadc0e 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -104,7 +104,7 @@ void Plane::calc_airspeed_errors()
     
     // we use the airspeed estimate function not direct sensor as TECS
     // may be using synthetic airspeed
-    ahrs.airspeed_estimate(&airspeed_measured);
+    ahrs.airspeed_estimate(airspeed_measured);
 
     // FBW_B/cruise airspeed target
     if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 93509905ebe..e46ed7dd6d2 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1408,7 +1408,7 @@ float QuadPlane::assist_climb_rate_cms(void) const
 float QuadPlane::desired_auto_yaw_rate_cds(void) const
 {
     float aspeed;
-    if (!ahrs.airspeed_estimate(&aspeed) || aspeed < plane.aparm.airspeed_min) {
+    if (!ahrs.airspeed_estimate(aspeed) || aspeed < plane.aparm.airspeed_min) {
         aspeed = plane.aparm.airspeed_min;
     }
     if (aspeed < 1) {
@@ -1538,7 +1538,7 @@ void QuadPlane::update_transition(void)
     }
 
     float aspeed;
-    bool have_airspeed = ahrs.airspeed_estimate(&aspeed);
+    bool have_airspeed = ahrs.airspeed_estimate(aspeed);
 
     // tailsitters use angle wait, not airspeed wait
     if (is_tailsitter() && transition_state == TRANSITION_AIRSPEED_WAIT) {
@@ -1919,7 +1919,7 @@ void QuadPlane::update_throttle_hover()
     // calc average throttle if we are in a level hover and low airspeed
     if (throttle > 0.0f && fabsf(inertial_nav.get_velocity_z()) < 60 &&
         labs(ahrs_view->roll_sensor) < 500 && labs(ahrs_view->pitch_sensor) < 500 &&
-        ahrs.airspeed_estimate(&aspeed) && aspeed < plane.aparm.airspeed_min*0.3) {
+        ahrs.airspeed_estimate(aspeed) && aspeed < plane.aparm.airspeed_min*0.3) {
         // Can we set the time constant automatically
         motors->update_throttle_hover(0.01f);
     }
diff --git a/ArduPlane/sensors.cpp b/ArduPlane/sensors.cpp
index c125891fbc2..0850852173e 100644
--- a/ArduPlane/sensors.cpp
+++ b/ArduPlane/sensors.cpp
@@ -66,7 +66,7 @@ void Plane::read_airspeed(void)
     
     // update smoothed airspeed estimate
     float aspeed;
-    if (ahrs.airspeed_estimate(&aspeed)) {
+    if (ahrs.airspeed_estimate(aspeed)) {
         smoothed_airspeed = smoothed_airspeed * 0.8f + aspeed * 0.2f;
     }
 }