Added support for battery voltage and differential pressure to logging and plot script

11 files changed, 388 insertions, 23 deletions

diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m
index bf70d6d0f..5bd19b2ee 100644
--- a/ROMFS/logging/logconv.m
+++ b/ROMFS/logging/logconv.m
@@ -24,6 +24,8 @@ filePath = 'sysvector.bin';
 % float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
 % float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
 % float vbat; //battery voltage in [volt]
+% float bat_current - current drawn from battery at this time instant
+% float bat_discharged - discharged energy in mAh
 % float adc[3]; //remaining auxiliary ADC ports [volt]
 % float local_position[3]; //tangent plane mapping into x,y,z [m]
 % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
@@ -31,27 +33,34 @@ filePath = 'sysvector.bin';
 % float rotMatrix[9]; //unitvectors
 % float actuator_control[4]; //unitvector
 % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
+% float diff_pressure; - pressure difference in millibar
+% float ind_airspeed;
+% float true_airspeed;
 
 % Definition of the logged values
-logFormat{1} = struct('name', 'timestamp',         'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); 
-logFormat{2} = struct('name', 'gyro',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{3} = struct('name', 'accel',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{4} = struct('name', 'mag',               'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{5} = struct('name', 'baro',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{6} = struct('name', 'baro_alt',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{7} = struct('name', 'baro_temp',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
+logFormat{1} = struct('name', 'timestamp',         'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64');
+logFormat{2} = struct('name', 'gyro',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{3} = struct('name', 'accel',             'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{4} = struct('name', 'mag',               'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{5} = struct('name', 'baro',              'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{6} = struct('name', 'baro_alt',          'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{7} = struct('name', 'baro_temp',         'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{8} = struct('name', 'control',           'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
-logFormat{9} = struct('name', 'actuators',         'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{10} = struct('name', 'vbat',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{11} = struct('name', 'adc',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{12} = struct('name', 'local_position',   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le'); 
-logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le'); 
+logFormat{9} = struct('name', 'actuators',         'bytes', 4, 'array', 8, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{10} = struct('name', 'vbat',             'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{10} = struct('name', 'bat_current',      'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{10} = struct('name', 'bat_discharged',   'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{11} = struct('name', 'adc',              'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{12} = struct('name', 'local_position',   'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32',  'machineformat', 'ieee-le');
 logFormat{14} = struct('name', 'attitude',         'bytes', 4, 'array', 3, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{15} = struct('name', 'rot_matrix',       'bytes', 4, 'array', 9, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{16} = struct('name', 'vicon_position',   'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{17} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float',   'machineformat', 'ieee-le');
 logFormat{18} = struct('name', 'optical_flow',     'bytes', 4, 'array', 6, 'precision', 'float',   'machineformat', 'ieee-le');
-
+logFormat{19} = struct('name', 'diff_pressure',    'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{20} = struct('name', 'ind_airspeed',     'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
+logFormat{21} = struct('name', 'true_airspeed',    'bytes', 4, 'array', 1, 'precision', 'float',   'machineformat', 'ieee-le');
 
 % First get length of one line
 columns = length(logFormat);
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index 407c47811..fbdd8fd62 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -66,6 +66,8 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_vicon_position.h>
 #include <uORB/topics/optical_flow.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/differential_pressure.h>
 
 #include <systemlib/systemlib.h>
 
@@ -383,6 +385,8 @@ int sdlog_thread_main(int argc, char *argv[])
 		struct vehicle_gps_position_s gps_pos;
 		struct vehicle_vicon_position_s vicon_pos;
 		struct optical_flow_s flow;
+		struct battery_status_s batt;
+		struct differential_pressure_s diff_pressure;
 	} buf;
 	memset(&buf, 0, sizeof(buf));
 
@@ -399,6 +403,8 @@ int sdlog_thread_main(int argc, char *argv[])
 		int gps_pos_sub;
 		int vicon_pos_sub;
 		int flow_sub;
+		int batt_sub;
+		int diff_pressure_sub;
 	} subs;
 
 	/* --- MANAGEMENT - LOGGING COMMAND --- */
@@ -487,6 +493,20 @@ int sdlog_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- BATTERY STATUS --- */
+	/* subscribe to ORB for flow measurements */
+	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
+	fds[fdsc_count].fd = subs.batt_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- DIFFERENTIAL PRESSURE --- */
+	/* subscribe to ORB for flow measurements */
+	subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
+	fds[fdsc_count].fd = subs.diff_pressure_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -597,6 +617,8 @@ int sdlog_thread_main(int argc, char *argv[])
 		orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
 		orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
 		orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
+		orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
+		orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
 
 		struct sdlog_sysvector sysvect = {
 			.timestamp = buf.raw.timestamp,
@@ -611,7 +633,9 @@ int sdlog_thread_main(int argc, char *argv[])
 				buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
 				buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
 			},
-			.vbat = 0.0f, /* XXX use battery_status uORB topic */
+			.vbat = buf.batt.voltage_v,
+			.bat_current = buf.batt.current_a,
+			.bat_discharged = buf.batt.discharged_mah,
 			.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
 			.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
 			.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
@@ -619,8 +643,10 @@ int sdlog_thread_main(int argc, char *argv[])
 			.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
 			.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
 			.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
-			.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}
-			/* XXX add calculated airspeed */
+			.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+			.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
+			.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
+			.true_airspeed = buf.diff_pressure.true_airspeed_m_s
 		};
 
 		/* put into buffer for later IO */
diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h
index 68fff3a91..f7fc0d450 100644
--- a/apps/sdlog/sdlog_ringbuffer.h
+++ b/apps/sdlog/sdlog_ringbuffer.h
@@ -54,6 +54,8 @@ struct sdlog_sysvector {
 	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
 	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
 	float vbat;			/**< battery voltage in [volt] */
+	float bat_current;		/**< battery discharge current */
+	float bat_discharged;		/**< discharged energy in mAh */
 	float adc[3];			/**< remaining auxiliary ADC ports [volt] */
 	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
 	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
@@ -62,6 +64,9 @@ struct sdlog_sysvector {
 	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
 	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
 	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
+	float diff_pressure;		/**< differential pressure */
+	float ind_airspeed;		/**< indicated airspeed */
+	float true_airspeed;		/**< true airspeed */
 };
 #pragma pack(pop)
 
diff --git a/apps/systemlib/airspeed.c b/apps/systemlib/airspeed.c
new file mode 100644
index 000000000..e213b66c2
--- /dev/null
+++ b/apps/systemlib/airspeed.c
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.c
+ * Airspeed estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include "math.h"
+
+
+float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature)
+{
+	return sqrtf((2.0f*(pressure_front - pressure_ambient)) / air_density_sea_level);
+}
+ 
+/**
+ * Calculate true airspeed from indicated airspeed.
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param speed current indicated airspeed
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature)
+{
+	return speed * sqrtf(air_density_sea_level / get_air_density(pressure_ambient, temperature));
+}
+ 
+/**
+ * Directly calculate true airspeed
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature)
+{
+	return sqrtf((2.0f*(pressure_front - pressure_ambient)) / get_air_density(pressure_ambient, temperature));
+}
\ No newline at end of file
diff --git a/apps/systemlib/airspeed.h b/apps/systemlib/airspeed.h
new file mode 100644
index 000000000..62acfe2b0
--- /dev/null
+++ b/apps/systemlib/airspeed.h
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file airspeed.c
+ * Airspeed estimation
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ */
+
+#include "math.h"
+#include "conversions.h"
+
+ __BEGIN_DECLS
+ 
+/**
+ * Calculate indicated airspeed.
+ *
+ * Note that the indicated airspeed is not the true airspeed because it
+ * lacks the air density compensation. Use the calc_true_airspeed functions to get
+ * the true airspeed.
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return indicated airspeed in m/s
+ */
+__EXPORT float calc_indicated_airspeed(float pressure_front, float pressure_ambient, float temperature);
+ 
+/**
+ * Calculate true airspeed from indicated airspeed.
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param speed current indicated airspeed
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+__EXPORT float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature);
+ 
+/**
+ * Directly calculate true airspeed
+ *
+ * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
+ *
+ * @param pressure_front pressure inside the pitot/prandl tube
+ * @param pressure_ambient pressure at the side of the tube/airplane
+ * @param temperature air temperature in degrees celcius
+ * @return true airspeed in m/s
+ */
+__EXPORT float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature);
+
+__END_DECLS
\ No newline at end of file
diff --git a/apps/systemlib/conversions.c b/apps/systemlib/conversions.c
index 9105d83cb..78e89f951 100644
--- a/apps/systemlib/conversions.c
+++ b/apps/systemlib/conversions.c
@@ -42,6 +42,10 @@
 
 #include "conversions.h"
 
+#define air_gas_constant 8.31432f
+#define air_density_sea_level 1.225f
+#define absolute_null_kelvin 273.15f
+
 int16_t
 int16_t_from_bytes(uint8_t bytes[])
 {
@@ -55,3 +59,8 @@ int16_t_from_bytes(uint8_t bytes[])
 
 	return u.w;
 }
+ 
+float get_air_density(float static_pressure, float temperature_celsius)
+{
+	return static_pressure/(air_gas_constant * (temperature_celsius + absolute_null_kelvin));
+}
diff --git a/apps/systemlib/conversions.h b/apps/systemlib/conversions.h
index dc383e770..33c21f8f9 100644
--- a/apps/systemlib/conversions.h
+++ b/apps/systemlib/conversions.h
@@ -56,6 +56,11 @@ __BEGIN_DECLS
  */
 __EXPORT int16_t int16_t_from_bytes(uint8_t bytes[]);
 
+/**
+ * Calculates air density.
+ */
+__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
+
 __END_DECLS
 
 #endif /* CONVERSIONS_H_ */
diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index 2d249a47f..82893b3e9 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -113,6 +113,12 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
 
+#include "topics/omnidirectional_flow.h"
+ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
+
+#include "topics/differential_pressure.h"
+ORB_DEFINE(differential_pressure, struct differential_pressure_s);
+
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h
new file mode 100644
index 000000000..fd7670cbc
--- /dev/null
+++ b/apps/uORB/topics/differential_pressure.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file differential_pressure.h
+ *
+ * Definition of differential pressure topic
+ */
+
+#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
+#define TOPIC_DIFFERENTIAL_PRESSURE_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct differential_pressure_s {
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	float   	static_pressure_mbar;		/**< Static / environment pressure */
+	float		differential_pressure_mbar;	/**< Differential pressure reading */
+	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
+	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(differential_pressure);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h
new file mode 100644
index 000000000..8f4be3b3f
--- /dev/null
+++ b/apps/uORB/topics/omnidirectional_flow.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
+#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Omnidirectional optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct omnidirectional_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t left[10];		/**< Left flow, in decipixels */
+	uint16_t right[10];		/**< Right flow, in decipixels */
+	float front_distance_m;		/**< Altitude / distance to object front in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(omnidirectional_flow);
+
+#endif
diff --git a/apps/uORB/topics/optical_flow.h b/apps/uORB/topics/optical_flow.h
index 24f842825..c854f0079 100644
--- a/apps/uORB/topics/optical_flow.h
+++ b/apps/uORB/topics/optical_flow.h
@@ -55,11 +55,6 @@
  */
 struct optical_flow_s {
 
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
 	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
@@ -67,8 +62,8 @@ struct optical_flow_s {
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
 	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */
-	uint8_t	quality;			/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;			/**< id of the sensor emitting the flow value */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };