From 7d55f6486893982bd0bf8636769a64d5a80367c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 4 May 2024 13:44:15 +1000
Subject: [PATCH] AP_Motors: use AHRS for get_air_density_ratio()

---
 libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp b/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
index ff2114864a4556..437cb4b560d725 100644
--- a/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
+++ b/libraries/AP_Motors/AP_Motors_Thrust_Linearization.cpp
@@ -3,6 +3,7 @@
 #include "AP_Motors_Class.h"
 #include <AP_BattMonitor/AP_BattMonitor.h>
 #include <AP_Baro/AP_Baro.h>
+#include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #define AP_MOTORS_BATT_VOLT_FILT_HZ 0.5 // battery voltage filtered at 0.5hz
@@ -193,7 +194,7 @@ float Thrust_Linearization::get_compensation_gain() const
 
 #if AP_MOTORS_DENSITY_COMP == 1
     // air density ratio is increasing in density / decreasing in altitude
-    const float air_density_ratio = AP::baro().get_air_density_ratio();
+    const float air_density_ratio = AP::ahrs().get_air_density_ratio();
     if (air_density_ratio > 0.3 && air_density_ratio < 1.5) {
         ret *= 1.0 / constrain_float(air_density_ratio, 0.5, 1.25);
     }