From 9a1ca0028536b0648c3decf292aa5234936dd4e4 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 12 Jul 2020 11:08:21 -0400
Subject: [PATCH] fw_pos_control_l1: replace sensor_baro with vehicle_air_data

 - controllers shouldn't be accessing raw sensor data directly
---
 .../fw_pos_control_l1/FixedwingPositionControl.cpp     | 10 +++++-----
 .../fw_pos_control_l1/FixedwingPositionControl.hpp     |  4 ++--
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index e5ca60dcb1..3584e59301 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1754,13 +1754,13 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
 
 	/* scale throttle cruise by baro pressure */
 	if (_param_fw_thr_alt_scl.get() > FLT_EPSILON) {
-		sensor_baro_s baro{};
+		vehicle_air_data_s air_data;
 
-		if (_sensor_baro_sub.update(&baro)) {
-			if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_param_fw_thr_alt_scl.get())) {
+		if (_vehicle_air_data_sub.update(&air_data)) {
+			if (PX4_ISFINITE(air_data.baro_pressure_pa) && PX4_ISFINITE(_param_fw_thr_alt_scl.get())) {
 				// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
-				const float eas2tas = sqrtf(CONSTANTS_STD_PRESSURE_MBAR / baro.pressure);
-				const float scale = constrain((eas2tas - 1.0f) * _param_fw_thr_alt_scl.get() + 1.0f, 1.0f, 2.0f);
+				const float eas2tas = sqrtf(CONSTANTS_STD_PRESSURE_PA / air_data.baro_pressure_pa);
+				const float scale = constrain((eas2tas - 1.0f) * _param_fw_thr_alt_scl.get() + 1.f, 1.f, 2.f);
 
 				throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);
 				throttle_cruise = constrain(throttle_cruise * scale, throttle_min + 0.01f, throttle_max - 0.01f);
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index e06099c361..9804c571e8 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -75,9 +75,9 @@
 #include <uORB/topics/position_controller_landing_status.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/vehicle_acceleration.h>
+#include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -155,7 +155,7 @@ private:
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};	///< notification of manual control updates
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};		///< notification of parameter updates
 	uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
-	uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro)};
+	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};		///< vehicle attitude subscription
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};		///< vehicle command subscription
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};	///< vehicle land detected subscription