Merge branch 'master' of github.com:PX4/Firmware into bottle_drop_friday

4 files changed, 26 insertions, 18 deletions

diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 0e58c68b6..339b11bbe 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -180,11 +180,13 @@ int do_airspeed_calibration(int mavlink_fd)
 		return ERROR;
 	}
 
-	mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (int)diff_pres_offset);
+	mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
 
 	/* wait 500 ms to ensure parameter propagated through the system */
 	usleep(500 * 1000);
 
+	mavlink_log_critical(mavlink_fd, "Create airflow now");
+
 	calibration_counter = 0;
 	const unsigned maxcount = 3000;
 
@@ -204,18 +206,18 @@ int do_airspeed_calibration(int mavlink_fd)
 			calibration_counter++;
 
 			if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
-				if (calibration_counter % 100 == 0) {
-					mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
-					(int)diff_pres.differential_pressure_raw_pa);
+				if (calibration_counter % 500 == 0) {
+					mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
+						(int)diff_pres.differential_pressure_raw_pa);
 				}
 				continue;
 			}
 
 			/* do not allow negative values */
 			if (diff_pres.differential_pressure_raw_pa < 0.0f) {
-				mavlink_log_info(mavlink_fd, "negative pressure: ERROR (%d Pa)",
-					(int)diff_pres.differential_pressure_raw_pa);
-				mavlink_log_critical(mavlink_fd, "%d Pa: swap static and dynamic ports!", (int)diff_pres.differential_pressure_raw_pa);
+				mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
+				mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
+						(int)diff_pres.differential_pressure_raw_pa);
 				close(diff_pres_sub);
 
 				/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -236,7 +238,7 @@ int do_airspeed_calibration(int mavlink_fd)
 				mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
 				return ERROR;
 			} else {
-				mavlink_log_info(mavlink_fd, "positive pressure: OK (%d Pa)",
+				mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
 					(int)diff_pres.differential_pressure_raw_pa);
 				break;
 			}
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index af4d46a36..5a92004a6 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -774,6 +774,9 @@ private:
 	MavlinkOrbSubscription *_airspeed_sub;
 	uint64_t _airspeed_time;
 
+	MavlinkOrbSubscription *_sensor_combined_sub;
+	uint64_t _sensor_combined_time;
+
 	/* do not allow top copying this class */
 	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
 	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);
@@ -789,7 +792,9 @@ protected:
 		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
 		_act_time(0),
 		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
-		_airspeed_time(0)
+		_airspeed_time(0),
+		_sensor_combined_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
+		_sensor_combined_time(0)
 	{}
 
 	void send(const hrt_abstime t)
@@ -799,12 +804,14 @@ protected:
 		struct actuator_armed_s armed;
 		struct actuator_controls_s act;
 		struct airspeed_s airspeed;
+		struct sensor_combined_s sensor_combined;
 
 		bool updated = _att_sub->update(&_att_time, &att);
 		updated |= _pos_sub->update(&_pos_time, &pos);
 		updated |= _armed_sub->update(&_armed_time, &armed);
 		updated |= _act_sub->update(&_act_time, &act);
 		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);
+		updated |= _sensor_combined_sub->update(&_sensor_combined_time, &sensor_combined);
 
 		if (updated) {
 			mavlink_vfr_hud_t msg;
@@ -813,7 +820,7 @@ protected:
 			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
 			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
 			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
-			msg.alt = pos.alt;
+			msg.alt = sensor_combined.baro_alt_meter;
 			msg.climb = -pos.vel_d;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f40034d79..cdcb428dd 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1229,16 +1229,18 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 	if (updated) {
 		orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres);
 
-		raw.differential_pressure_pa = _diff_pres.differential_pressure_pa;
+		raw.differential_pressure_pa = _diff_pres.differential_pressure_raw_pa;
 		raw.differential_pressure_timestamp = _diff_pres.timestamp;
 		raw.differential_pressure_filtered_pa = _diff_pres.differential_pressure_filtered_pa;
 
 		float air_temperature_celsius = (_diff_pres.temperature > -300.0f) ? _diff_pres.temperature : (raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG);
 
 		_airspeed.timestamp = _diff_pres.timestamp;
-		_airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa);
-		_airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
-					      raw.baro_pres_mbar * 1e2f, air_temperature_celsius);
+
+		/* don't risk to feed negative airspeed into the system */
+		_airspeed.indicated_airspeed_m_s = math::max(0.0f, calc_indicated_airspeed(_diff_pres.differential_pressure_filtered_pa));
+		_airspeed.true_airspeed_m_s = math::max(0.0f, calc_true_airspeed(_diff_pres.differential_pressure_filtered_pa + raw.baro_pres_mbar * 1e2f,
+					      raw.baro_pres_mbar * 1e2f, air_temperature_celsius));
 		_airspeed.air_temperature_celsius = air_temperature_celsius;
 
 		/* announce the airspeed if needed, just publish else */
@@ -1457,12 +1459,10 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 					if (voltage > 0.4f && (_parameters.diff_pres_analog_scale > 0.0f)) {
 
 						float diff_pres_pa_raw = voltage * _parameters.diff_pres_analog_scale - _parameters.diff_pres_offset_pa;
-						float diff_pres_pa = (diff_pres_pa_raw > 0.0f) ? diff_pres_pa_raw : 0.0f;
 
 						_diff_pres.timestamp = t;
-						_diff_pres.differential_pressure_pa = diff_pres_pa;
 						_diff_pres.differential_pressure_raw_pa = diff_pres_pa_raw;
-						_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa * 0.1f);
+						_diff_pres.differential_pressure_filtered_pa = (_diff_pres.differential_pressure_filtered_pa * 0.9f) + (diff_pres_pa_raw * 0.1f);
 						_diff_pres.temperature = -1000.0f;
 
 						/* announce the airspeed if needed, just publish else */
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index cd48d3cb2..7342fcf04 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -54,7 +54,6 @@
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< Microseconds since system boot, needed to integrate */
 	uint64_t	error_count;			/**< Number of errors detected by driver */
-	float	differential_pressure_pa;		/**< Differential pressure reading */
 	float	differential_pressure_raw_pa;		/**< Raw differential pressure reading (may be negative) */
 	float	differential_pressure_filtered_pa;	/**< Low pass filtered differential pressure reading */
 	float	max_differential_pressure_pa;		/**< Maximum differential pressure reading */