Revert "airspeed_calibration: stop talking about Pa and and hashtags"

This reverts commit c6fb75f66fa94444d07056f271980e3f05008f94.

2 files changed, 11 insertions, 15 deletions

diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index bcdf4670a..c136c6641 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -232,8 +232,6 @@ MEASAirspeed::collect()
 	 * tubes are connected backwards */
 	float diff_press_pa = diff_press_pa_raw;
 
-	warnx("diff preasure: %.4f", (double)diff_press_pa);
-
 	/*
 	  note that we return both the absolute value with offset
 	  applied and a raw value without the offset applied. This
@@ -261,9 +259,9 @@ MEASAirspeed::collect()
 	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa);
 
 	/* the dynamics of the filter can make it overshoot into the negative range */
-	//if (report.differential_pressure_filtered_pa < 0.0f) {
-	//	report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa);
-	//}
+	if (report.differential_pressure_filtered_pa < 0.0f) {
+		report.differential_pressure_filtered_pa = _filter.reset(diff_press_pa);
+	}
 
 	report.differential_pressure_raw_pa = diff_press_pa_raw;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 339b11bbe..0e58c68b6 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -180,13 +180,11 @@ int do_airspeed_calibration(int mavlink_fd)
 		return ERROR;
 	}
 
-	mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
+	mavlink_log_critical(mavlink_fd, "Offset of %d Pa, create airflow now!", (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;
 
@@ -206,18 +204,18 @@ int do_airspeed_calibration(int mavlink_fd)
 			calibration_counter++;
 
 			if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
-				if (calibration_counter % 500 == 0) {
-					mavlink_log_info(mavlink_fd, "Create airflow! (%d, wanted: 50 Pa)",
-						(int)diff_pres.differential_pressure_raw_pa);
+				if (calibration_counter % 100 == 0) {
+					mavlink_log_critical(mavlink_fd, "Missing airflow! (%d, wanted: 50 Pa, #h101)",
+					(int)diff_pres.differential_pressure_raw_pa);
 				}
 				continue;
 			}
 
 			/* do not allow negative values */
 			if (diff_pres.differential_pressure_raw_pa < 0.0f) {
-				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);
+				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);
 				close(diff_pres_sub);
 
 				/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@@ -238,7 +236,7 @@ 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;
 			}