Merge pull request #17 from ethz-asl/feature/add_hall_effect_sensor

[WIP!!!] Feature/add hall effect sensor

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -114,6 +114,57 @@ then
 	adis16448 -S start
 fi
 
+# Hall effect sensors si7210
+# Potentially remove the -k option if possible and improve the startup if possible
+if param greater CAL_AV_AOA_ID -1
+then
+	set AOA_I2C_ID 0
+	if param compare CAL_AV_AOA_ID 48
+	then
+		set AOA_I2C_ID 48
+	fi
+	if param compare CAL_AV_AOA_ID 49
+	then
+		set AOA_I2C_ID 49
+	fi
+	if param compare CAL_AV_AOA_ID 50
+	then
+		set AOA_I2C_ID 50
+	fi
+	if param compare CAL_AV_AOA_ID 51
+	then
+		set AOA_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${AOA_I2C_ID}
+	unset AOA_I2C_ID
+fi
+
+if param greater CAL_AV_SLIP_ID -1
+then
+	set SLIP_I2C_ID 0
+	if param compare CAL_AV_SLIP_ID 48
+	then
+		set SLIP_I2C_ID 48
+	fi
+	if param compare CAL_AV_SLIP_ID 49
+	then
+		set SLIP_I2C_ID 49
+	fi
+	if param compare CAL_AV_SLIP_ID 50
+	then
+		set SLIP_I2C_ID 50
+	fi
+	if param compare CAL_AV_SLIP_ID 51
+	then
+		set SLIP_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${SLIP_I2C_ID}
+	unset SLIP_I2C_ID
+fi
+
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

boards/px4/fmu-v3/default.cmake

@@ -41,6 +41,7 @@ px4_add_board(
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		osd
+		si7210
 		pca9685
 		pca9685_pwm_out
 		#power_monitor/ina226

boards/px4/fmu-v5/default.cmake

@@ -50,6 +50,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+        si7210
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm

msg/CMakeLists.txt

@@ -39,6 +39,8 @@ set(msg_files
 	actuator_controls.msg
 	actuator_outputs.msg
 	adc_report.msg
+	airflow_aoa.msg
+	airflow_slip.msg
 	airspeed.msg
 	airspeed_validated.msg
 	airspeed_wind.msg
@@ -128,6 +130,7 @@ set(msg_files
 	sensor_baro.msg
 	sensor_combined.msg
 	sensor_correction.msg
+	sensor_hall.msg
 	sensor_gps.msg
 	sensor_gyro.msg
 	sensor_gyro_fft.msg

msg/airflow_aoa.msg

@@ -0,0 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 aoa_rad # angle of attack in radians
+bool valid # true if measurement is within sensor/calibration range, false otherwise

msg/airflow_slip.msg

@@ -0,0 +1,3 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 slip_rad # sideslip angle in radians
+bool valid # true if measurement is within sensor/calibration range, false otherwise

msg/sensor_hall.msg

@@ -0,0 +1,7 @@
+uint64 timestamp			# time since system start (microseconds)
+
+int8 instance	            # sensor instance
+
+float32 mag_t	            # magnetic field measurement in Tesla
+
+float32 temp_c	            # temperature measurement in deg C

msg/tools/uorb_rtps_message_ids.yaml

@@ -342,6 +342,8 @@ rtps:
     id: 158
   - msg: estimator_event_flags
     id: 159
+  - msg: sensor_hall
+    id: 160
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 170

src/drivers/drv_hall.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2018 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 drv_hall.h
+ *
+ * Hall Effect Magnetic Sensor driver interface.
+ */
+
+#ifndef _DRV_HALL_H
+#define _DRV_HALL_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_sensor.h"
+#include "drv_orb_dev.h"
+
+#define HALL_BASE_DEVICE_PATH	"/dev/hall"
+#define HALL0_DEVICE_PATH		"/dev/hall0"
+#define HALL1_DEVICE_PATH		"/dev/hall1"
+#define HALL2_DEVICE_PATH		"/dev/hall2"
+#define HALL3_DEVICE_PATH		"/dev/hall3"
+
+
+#endif /* _DRV_HALL_H */

src/drivers/drv_sensor.h

@@ -177,6 +177,8 @@
 #define DRV_DIST_DEVTYPE_SIM 0x9a
 #define DRV_DIST_DEVTYPE_SRF05 0x9b
 
+#define DRV_HALL_DEVTYPE_SI7210       0x9c
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/si7210/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__si7210
+	MAIN si7210
+	COMPILE_FLAGS
+	SRCS
+		si7210_main.cpp
+		si7210.cpp
+	DEPENDS
+		drivers__vane
+		mathlib
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/si7210/si7210.cpp

@@ -0,0 +1,313 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2021 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 si7210.cpp
+ * @author: Amir Melzer  <amir.melzer@mavt.ethz.ch>
+ *
+ * Driver for the SI7210 connected via I2C.
+ */
+
+#include "si7210.h"
+
+using namespace time_literals;
+
+/* Get registers value */
+int
+SI7210::get_regs(uint8_t ptr, uint8_t *regs)
+{
+	uint8_t data;
+
+	if (OK != transfer(&ptr, 1, &data, 1)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	*regs  = data;
+
+	return OK;
+}
+
+/* Set registers value */
+int
+SI7210::set_regs(uint8_t ptr, uint8_t value)
+{
+	uint8_t data[2];
+
+	data[0] = ptr;
+	data[1] = value;
+
+	if (OK != transfer(&data[0], 2, nullptr, 0)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	/* read back the reg and verify */
+
+	if (OK != transfer(&ptr, 1, &data[1], 1)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	if (data[1] != value) {
+		//return -EIO;
+	}
+
+	return OK;
+}
+
+/* Get measurement value */
+int
+SI7210::get_measurement(uint8_t ptr, uint16_t *value)
+{
+	uint8_t data[2];
+
+	if (OK != transfer(&ptr, 1, &data[0], 2)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	*value = (uint16_t)((data[1] & 0xff) + ((data[0] & 0xff) << 8));
+
+	return OK;
+}
+
+/* Get sensor data */
+int
+SI7210::get_sensor_data(uint8_t otpAddr, int8_t *data)
+{
+	uint8_t optCtrl;
+	uint8_t reg;
+
+	if (OK != get_regs(OTP_CTRL, &optCtrl)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	if (OK != (optCtrl & OTP_CTRL_OPT_BUSY_MASK)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	reg = otpAddr;
+
+	if (OK != set_regs(OTP_ADDR, reg)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	reg = OTP_CTRL_OPT_READ_EN_MASK;
+
+	if (OK != set_regs(OTP_CTRL, reg)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	if (OK != get_regs(OTP_DATA, (uint8_t *) data)) {
+		perf_count(_comms_errors);
+		return -EIO;
+	}
+
+	return OK;
+}
+
+
+int SI7210::write_command(uint16_t command)
+{
+	uint8_t cmd[2];
+	cmd[0] = static_cast<uint8_t>(command >> 8);
+	cmd[1] = static_cast<uint8_t>(command & 0xff);
+	return transfer(&cmd[0], 2, nullptr, 0);
+}
+
+bool
+SI7210::init_si7210()
+{
+	return configure() == 0;
+}
+
+int
+SI7210::configure()
+{
+	uint8_t reg;
+	int ret = get_regs(HREVID, &reg);
+	bool config_failed = false;
+
+	if (((reg & 0xf0) >> 4) != IDCHIPID) {
+		config_failed = true;
+	}
+
+	if ((reg & 0x0f) != REVID) {
+		config_failed = true;
+	}
+
+	if ((ret != PX4_OK) || config_failed) {
+		perf_count(_comms_errors);
+		DEVICE_DEBUG("config failed");
+		_state = State::RequireConfig;
+		return ret;
+	}
+
+	_state = State::Configuring;
+
+	return ret;
+}
+
+void SI7210::start()
+{
+	// make sure to wait 10ms after configuring the measurement mode
+	ScheduleDelayed(10_ms);
+}
+
+int SI7210::collect()
+{
+	perf_begin(_sample_perf);
+
+	_collect_phase = false;
+
+	uint8_t     reg;
+
+	uint16_t    magRawData;
+	uint16_t    tempRawData;
+
+	int8_t 		otpTempOffsetData;
+	int8_t 		otpTempGainData;
+
+	/* capture the magnetic field measurements */
+	reg = ARAUTOINC_ARAUTOINC_MASK;
+
+	if (OK != set_regs(ARAUTOINC, reg)) {
+		return -EIO;
+	}
+
+	reg = DSPSIGSEL_MAG_VAL_SEL;
+
+	if (OK != set_regs(DSPSIGSEL, reg)) {
+		return -EIO;
+	}
+
+	reg = POWER_CTRL_ONEBURST_MASK;
+
+	if (OK != set_regs(POWER_CTRL, reg)) {
+		return -EIO;
+	}
+
+	if (OK != get_measurement(DSPSIGM, &magRawData)) {
+		return -EIO;
+	}
+
+	/* capture the temperate measurements */
+	reg = DSPSIGSEL_TEMP_VAL_SEL;
+
+	if (OK != set_regs(DSPSIGSEL, reg)) {
+		return -EIO;
+	}
+
+	reg = POWER_CTRL_ONEBURST_MASK;
+
+	if (OK != set_regs(POWER_CTRL, reg)) {
+		return -EIO;
+	}
+
+	if (OK != get_measurement(DSPSIGM, &tempRawData)) {
+		return -EIO;
+	}
+
+	if (OK != get_sensor_data(OTP_TEMP_OFFSET, &otpTempOffsetData)) {
+		return -EIO;
+	}
+
+	if (OK != get_sensor_data(OTP_TEMP_GAIN, &otpTempGainData)) {
+		return -EIO;
+	}
+
+	float _tempOffset = (float)otpTempOffsetData / 16;
+	float _tempGain = 1 + (float)otpTempGainData / 2048;
+
+	if (OK == ((magRawData & 0x8000) && (tempRawData & 0x8000))) {
+		return -EIO;
+	}
+
+	sensor_hall_s report{};
+
+	/* generate a new report */
+	report.timestamp = hrt_absolute_time();
+	report.instance = _i2c_address;
+	report.mag_t = (float)(magRawData - MAG_BIAS) * MAG_CONV;
+	report.temp_c = (float)((tempRawData & ~0x8000) >> 3);
+	report.temp_c = _tempGain * (TEMP_CONV_A2 * report.temp_c * report.temp_c + TEMP_CONV_A1 * report.temp_c + TEMP_CONV_A0
+				     + VDD_CONV *
+				     VDD) +
+			_tempOffset;
+
+	_vane_pub.publish(report);
+
+	perf_end(_sample_perf);
+
+	return PX4_OK;
+}
+
+void
+SI7210::RunImpl()
+{
+	switch (_state) {
+	case State::RequireConfig:
+		if (configure() == PX4_OK) {
+			ScheduleDelayed(10_ms);
+
+		} else {
+			// periodically retry to configure
+			ScheduleDelayed(300_ms);
+		}
+
+		break;
+
+	case State::Configuring:
+		_state = State::Running;
+
+		ScheduleDelayed(10_ms);
+		break;
+
+	case State::Running:
+		int ret = collect();
+
+		if (ret != 0 && ret != -EAGAIN) {
+			_sensor_ok = false;
+			DEVICE_DEBUG("measure error");
+			_state = State::RequireConfig;
+		}
+
+		ScheduleDelayed(SI7210_CONVERSION_INTERVAL);
+		break;
+	}
+}

src/drivers/si7210/si7210.h

@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2021 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 si7210.h
+ * @author: Amir Melzer  <amir.melzer@mavt.ethz.ch>
+ *
+ * Driver for the SI7210 connected via I2C.
+ */
+
+#ifndef SI7210_HPP_
+#define SI7210_HPP_
+
+#include <drivers/drv_hall.h>
+#include <drivers/vane/vane.h>
+#include <math.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/sensor_hall.h>
+
+#define I2C_ADDRESS_SI7210   0x30    /* Default SI7210 I2C address */
+
+#define SI7210_MAX_DATA_RATE     50
+
+#define SI7210_BUS_SPEED                     1000*100
+
+/* This value is set based on Max output data rate value */
+#define SI7210_CONVERSION_INTERVAL      (1000000 / 100) /* microseconds */
+
+#define IDCHIPID 					   0x01
+#define REVID						   0x04
+
+#define ARAUTOINC_ARAUTOINC_MASK       0x01
+#define OTP_CTRL_OPT_BUSY_MASK         0x01
+#define OTP_CTRL_OPT_READ_EN_MASK      0x02
+#define POWER_CTRL_SLEEP_MASK          0x01
+#define POWER_CTRL_STOP_MASK           0x02
+#define POWER_CTRL_ONEBURST_MASK       0x04
+#define POWER_CTRL_USESTORE_MASK       0x08
+#define POWER_CTRL_MEAS_MASK           0x80
+#define DSPSIGSEL_MAG_VAL_SEL          0
+#define DSPSIGSEL_TEMP_VAL_SEL         1
+
+/** I2C registers for Si72xx */
+#define OTP_TEMP_OFFSET  0x1D
+#define OTP_TEMP_GAIN    0x1E
+#define HREVID           0xC0
+#define DSPSIGM          0xC1
+#define DSPSIGL          0xC2
+#define DSPSIGSEL        0xC3
+#define POWER_CTRL       0xC4
+#define ARAUTOINC        0xC5
+#define CTRL1            0xC6
+#define CTRL2            0xC7
+#define SLTIME           0xC8
+#define CTRL3            0xC9
+#define A0               0xCA
+#define A1               0xCB
+#define A2               0xCC
+#define CTRL4            0xCD
+#define A3               0xCE
+#define A4               0xCF
+#define A5               0xD0
+#define OTP_ADDR         0xE1
+#define OTP_DATA         0xE2
+#define OTP_CTRL         0xE3
+#define TM_FG            0xE4
+
+/** temperature conv for Si72xx */
+#define TEMP_CONV_A2     -3.83e-6F
+#define TEMP_CONV_A1     0.16094F
+#define TEMP_CONV_A0     -279.80F
+
+#define VDD              3.30F
+#define VDD_CONV         -0.222F
+
+/** Magnetic conv for Si72xx */
+#define MAG_BIAS         0xC000
+#define MAG_CONV         0.00125F
+
+class SI7210 : public Vane, public I2CSPIDriver<SI7210>
+{
+public:
+	SI7210(I2CSPIBusOption bus_option, const int bus, int bus_frequency, int address = I2C_ADDRESS_SI7210,
+	       bool keep_retrying = false) :
+		Vane(bus, bus_frequency, address, SI7210_CONVERSION_INTERVAL),
+		I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, address),
+		_keep_retrying{keep_retrying},
+		_i2c_address{address}
+	{
+	}
+
+	virtual ~SI7210() = default;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	void	RunImpl();
+
+	void start();
+
+private:
+	enum class State {
+		RequireConfig,
+		Configuring,
+		Running
+	};
+
+	int	measure() override { return 0; }
+	int	collect() override;
+	int	configure();
+
+	bool init_si7210();
+
+	/**
+	 * Get registers values
+	 *
+	 * @return		OK if the measurement command was successful.
+	 */
+	int				get_regs(uint8_t ptr, uint8_t *regs);
+
+	/**
+	 * Set registers values
+	 *
+	 * @return		OK if the measurement command was successful.
+	 */
+	int				set_regs(uint8_t ptr, uint8_t value);
+
+	/**
+	 * Get measurement values
+	 *
+	 * @return		OK if the measurement command was successful.
+	 */
+	int				get_measurement(uint8_t ptr, uint16_t *value);
+
+	/**
+	 * Get si7210 data
+	 *
+	 * @return		OK if the measurement command was successful.
+	 */
+	int				get_sensor_data(uint8_t otpAddr, int8_t *data);
+
+	/**
+	 * Write a command in Sensirion specific logic
+	 */
+	int write_command(uint16_t command);
+
+	uint16_t _scale{0};
+	const bool _keep_retrying;
+	State _state{State::RequireConfig};
+	int _i2c_address;
+};
+
+#endif /* SI7210_HPP_ */

src/drivers/si7210/si7210_main.cpp

@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2021 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 si7210_main.cpp
+ * Driver for the SI7210 connected via I2C.
+ *
+ * Author: Amir Melzer  <amir.melzer@mavt.ethz.ch>
+ */
+
+
+#include "si7210.h"
+
+extern "C" __EXPORT int si7210_main(int argc, char *argv[]);
+
+I2CSPIDriverBase *SI7210::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+				      int runtime_instance)
+{
+	SI7210 *instance = new SI7210(iterator.configuredBusOption(), iterator.bus(), cli.bus_frequency, cli.i2c_address,
+				      cli.keep_running);
+
+	if (instance == nullptr) {
+		PX4_ERR("alloc failed");
+		return nullptr;
+	}
+
+	if (instance->init() != PX4_OK) {
+		delete instance;
+		return nullptr;
+	}
+
+	instance->start();
+	return instance;
+}
+
+
+void
+SI7210::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("si7210", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("airspeed_sensor");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(I2C_ADDRESS_SI7210);
+	PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG();
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+int
+si7210_main(int argc, char *argv[])
+{
+	using ThisDriver = SI7210;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 100000;
+	cli.i2c_address = I2C_ADDRESS_SI7210;
+	cli.support_keep_running = true;
+
+	int ch;
+
+	while ((ch = cli.getopt(argc, argv, "")) != EOF) {}
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_HALL_DEVTYPE_SI7210);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/lib/drivers/CMakeLists.txt

@@ -40,3 +40,4 @@ add_subdirectory(led)
 add_subdirectory(magnetometer)
 add_subdirectory(rangefinder)
 add_subdirectory(smbus)
+add_subdirectory(vane)

src/lib/drivers/vane/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+px4_add_library(drivers__vane vane.cpp)
+target_link_libraries(drivers__vane PRIVATE drivers__device)

src/lib/drivers/vane/vane.cpp

@@ -0,0 +1,122 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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 airspeed.cpp
+ * @author Simon Wilks <simon@px4.io>
+ * @author Lorenz Meier <lorenz@px4.io>
+ *
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/device.h>
+
+#include <drivers/device/i2c.h>
+
+#include <systemlib/err.h>
+#include <parameters/param.h>
+#include <perf/perf_counter.h>
+
+#include <drivers/drv_airspeed.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_hall.h>
+
+#include <drivers/vane/vane.h>
+
+Vane::Vane(int bus, int bus_frequency, int address, unsigned conversion_interval) :
+	I2C(0, "Vane", bus, address, bus_frequency),
+	_sensor_ok(false),
+	_measure_interval(conversion_interval),
+	_collect_phase(false),
+	_vane_orb_class_instance(-1),
+	_class_instance(-1),
+	_conversion_interval(conversion_interval),
+	_sample_perf(perf_alloc(PC_ELAPSED, "vane_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "vane_com_err"))
+{
+}
+
+Vane::~Vane()
+{
+	if (_class_instance != -1) {
+		unregister_class_devname(HALL_BASE_DEVICE_PATH, _class_instance);
+	}
+
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+}
+
+int
+Vane::init()
+{
+	/* do I2C init (and probe) first */
+	if (I2C::init() != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	/* register alternate interfaces if we have to */
+	_class_instance = register_class_devname(HALL_BASE_DEVICE_PATH);
+
+	/* advertise sensor topic, measure manually to initialize valid report */
+	measure();
+
+	return PX4_OK;
+}
+
+int
+Vane::probe()
+{
+	/* on initial power up the device may need more than one retry
+	   for detection. Once it is running the number of retries can
+	   be reduced
+	*/
+	_retries = 4;
+	int ret = measure();
+
+	// drop back to 2 retries once initialised
+	_retries = 2;
+	return ret;
+}
+
+int
+Vane::ioctl(device::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	default:
+		/* give it to the superclass */
+		return I2C::ioctl(filp, cmd, arg);
+	}
+}

src/lib/drivers/vane/vane.h

@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <string.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_hall.h>
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <perf/perf_counter.h>
+#include <uORB/topics/sensor_hall.h>
+#include <uORB/PublicationMulti.hpp>
+
+class __EXPORT Vane : public device::I2C
+{
+public:
+	Vane(int bus, int bus_frequency, int address, unsigned conversion_interval);
+	virtual ~Vane();
+
+	int	init() override;
+
+	int	ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
+
+private:
+	Vane(const Vane &) = delete;
+	Vane &operator=(const Vane &) = delete;
+
+protected:
+	int	probe() override;
+
+	/**
+	* Perform a poll cycle; collect from the previous measurement
+	* and start a new one.
+	*/
+	virtual int	measure() = 0;
+	virtual int	collect() = 0;
+
+	bool			_sensor_ok;
+	int			_measure_interval;
+	bool			_collect_phase;
+
+	uORB::PublicationMulti<sensor_hall_s>	_vane_pub{ORB_ID(sensor_hall)};
+
+	int			_vane_orb_class_instance;
+
+	int			_class_instance;
+
+	unsigned		_conversion_interval;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_comms_errors;
+};

src/modules/mavlink/mavlink_bridge_header.h

@@ -92,7 +92,7 @@ void mavlink_end_uart_send(mavlink_channel_t chan, int length);
 extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
-#include <v2.0/standard/mavlink.h>
+#include <v2.0/ASLUAV/mavlink.h>
 
 __END_DECLS
 

src/modules/mavlink/mavlink_ftp.cpp

@@ -48,7 +48,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_main.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <v2.0/ASLUAV/mavlink.h>
 #endif
 
 using namespace time_literals;

src/modules/mavlink/mavlink_ftp.h

@@ -46,7 +46,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <v2.0/ASLUAV/mavlink.h>
 #endif
 
 class MavlinkFtpTest;

src/modules/mavlink/mavlink_main.cpp

@@ -1536,6 +1536,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("RAW_RPM", 2.0f);
 		configure_stream_local("RC_CHANNELS", 5.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
+		configure_stream_local("SENSOR_AIRFLOW_ANGLES", 10.0f);
 		configure_stream_local("SYS_STATUS", 1.0f);
 		configure_stream_local("UTM_GLOBAL_POSITION", 0.5f);
 		configure_stream_local("VFR_HUD", 4.0f);
@@ -1739,6 +1740,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("SCALED_IMU3", 25.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 20.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_1", 20.0f);
+		configure_stream_local("SENSOR_AIRFLOW_ANGLES", 20.0f);
 		configure_stream_local("SYS_STATUS", 1.0f);
 		configure_stream_local("SYSTEM_TIME", 1.0f);
 		configure_stream_local("UTM_GLOBAL_POSITION", 1.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -99,6 +99,7 @@
 #include "streams/RC_CHANNELS.hpp"
 #include "streams/SCALED_IMU.hpp"
 #include "streams/SCALED_PRESSURE.hpp"
+#include "streams/SENSOR_AIRFLOW_ANGLES.hpp"
 #include "streams/SERVO_OUTPUT_RAW.hpp"
 #include "streams/STATUSTEXT.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
@@ -346,6 +347,9 @@ static const StreamListItem streams_list[] = {
 #if defined(SCALED_PRESSURE3)
 	create_stream_list_item<MavlinkStreamScaledPressure3>(),
 #endif // SCALED_PRESSURE3
+#if defined(SENSOR_AIRFLOW_ANGLES_HPP)
+	create_stream_list_item<MavlinkStreamSensorAirflowAngles>(),
+#endif // SENSOR_AIRFLOW_ANGLES
 #if defined(ACTUATOR_OUTPUT_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamActuatorOutputStatus>(),
 #endif // ACTUATOR_OUTPUT_STATUS_HPP

src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h

@@ -40,7 +40,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "../mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <v2.0/ASLUAV/mavlink.h>
 #endif
 #include "../mavlink_ftp.h"
 

src/modules/mavlink/streams/SENSOR_AIRFLOW_ANGLES.hpp

@@ -0,0 +1,111 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+#ifndef SENSOR_AIRFLOW_ANGLES_HPP
+#define SENSOR_AIRFLOW_ANGLES_HPP
+
+#include <uORB/topics/airflow_aoa.h>
+#include <uORB/topics/airflow_slip.h>
+
+class MavlinkStreamSensorAirflowAngles : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSensorAirflowAngles(mavlink); }
+
+	static constexpr const char *get_name_static() { return "SENSOR_AIRFLOW_ANGLES"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SENSOR_AIRFLOW_ANGLES; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_airflow_aoa_sub.advertised() || _airflow_slip_sub.advertised()) {
+			return MAVLINK_MSG_ID_SENSOR_AIRFLOW_ANGLES_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamSensorAirflowAngles(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _airflow_aoa_sub{ORB_ID(airflow_aoa)};
+	uORB::Subscription _airflow_slip_sub{ORB_ID(airflow_slip)};
+
+	bool send() override
+	{
+		if (_airflow_aoa_sub.updated() || _airflow_slip_sub.updated()) {
+			mavlink_sensor_airflow_angles_t msg{};
+
+			struct airflow_aoa_s airflow_aoa;
+
+			if (_airflow_aoa_sub.copy(&airflow_aoa)) {
+				msg.timestamp = airflow_aoa.timestamp / 1000;
+				msg.angleofattack = math::degrees(airflow_aoa.aoa_rad);
+				msg.angleofattack_valid = airflow_aoa.valid;
+
+			} else {
+				msg.timestamp = 0;
+				msg.angleofattack = 0.0;
+				msg.angleofattack_valid = false;
+			}
+
+			struct airflow_slip_s airflow_slip;
+
+			if (_airflow_slip_sub.copy(&airflow_slip)) {
+				const uint64_t timestamp = airflow_slip.timestamp / 1000;
+
+				if (timestamp > msg.timestamp) {
+					msg.timestamp = timestamp;
+				}
+
+				msg.sideslip = math::degrees(airflow_slip.slip_rad);
+				msg.sideslip_valid = airflow_slip.valid;
+
+			} else {
+				msg.timestamp = 0;
+				msg.sideslip = 0.0;
+				msg.sideslip_valid = false;
+			}
+
+			mavlink_msg_sensor_airflow_angles_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // SENSOR_AIRFLOW_ANGLES

src/modules/sensors/sensor_params_av.c

@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Driver ID of the angle of attack vane (corresponds to sensor I2C address)
+ *
+ * setting -1 disables the vane, 0-3 correspond to hall driver IDs
+ *
+ * @min -1
+ * @max 3
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_ID, -1);
+
+/**
+ * Angle of attack vane angular mounting offset in degrees
+ *
+ * This value is subtracted (as a bias) from the measured angle of attack
+ *
+ * @unit deg
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_OFF, 0.0);
+
+/**
+ * Minimum calibrated angle of attack vane angle in degrees
+ *
+ * @unit deg
+ * @min -90.0
+ * @max -1.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_MIN, -30.0);
+
+/**
+ * Maximum calibrated angle of attack vane angle in degrees
+ *
+ * @unit deg
+ * @min 1.0
+ * @max 90.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_MAX, 30.0);
+
+/**
+ * Reverse vane direction (mounting dependent)
+ *
+ * @min -1.0
+ * @max 1.0
+ * @value -1.0 Reverse
+ * @value 1.0 Normal
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_AOA_REV, 1.0);
+
+/**
+ * Calibrated polynomial coefficient 0 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = vane angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P0, 0);
+
+/**
+ * Calibrated polynomial coefficient 1 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P1, 0);
+
+/**
+ * Calibrated polynomial coefficient 2 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P2, 0);
+
+/**
+ * Calibrated polynomial coefficient 3 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_AOA_P3, 0);
+
+/**
+ * Driver ID of the sideslip vane (corresponds to sensor I2C address)
+ *
+ * setting -1 disables the vane, 0-3 correspond to hall driver IDs
+ *
+ * @min -1
+ * @max 3
+ * @reboot_required true
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_ID, -1);
+
+/**
+ * Sideslip vane angular mounting offset in degrees
+ *
+ * This value is subtracted (as a bias) from the measured sideslip
+ *
+ * @unit deg
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_OFF, 0.0);
+
+/**
+ * Minimum calibrated sideslip vane angle in degrees
+ *
+ * @unit deg
+ * @min -90.0
+ * @max -1.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_MIN, -30.0);
+
+/**
+ * Maximum calibrated sideslip vane angle in degrees
+ *
+ * @unit deg
+ * @min 1.0
+ * @max 90.0
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_MAX, 30.0);
+
+/**
+ * Reverse vane direction (mounting dependent)
+ *
+ * @min -1.0
+ * @max 1.0
+ * @value -1.0 Reverse
+ * @value 1.0 Normal
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(CAL_AV_SLIP_REV, 1.0);
+
+/**
+ * Calibrated polynomial coefficient 0 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = vane angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P0, 0);
+
+/**
+ * Calibrated polynomial coefficient 1 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P1, 0);
+
+/**
+ * Calibrated polynomial coefficient 2 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P2, 0);
+
+/**
+ * Calibrated polynomial coefficient 3 (*1e7)
+ *
+ * y = p0 + p1 * x + p2 * x^2 + ...
+ * y = angle in degrees
+ * x = magnetic field measurement in Tesla (assumes use of hall effect sensor)
+ *
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_INT32(CAL_AV_SLIP_P3, 0);

src/modules/sensors/sensors.cpp

@@ -61,10 +61,13 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/airflow_aoa.h>
+#include <uORB/topics/airflow_slip.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensors_status_imu.h>
+#include <uORB/topics/sensor_hall.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_imu.h>
@@ -129,9 +132,20 @@ private:
 	uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
 	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
+	uORB::Subscription _sensor_hall_subs[MAX_SENSOR_COUNT] { // could be set to ORB_MULTI_MAX_INSTANCES if needed
+		{ORB_ID(sensor_hall), 0},
+		{ORB_ID(sensor_hall), 1},
+		{ORB_ID(sensor_hall), 2},
+		{ORB_ID(sensor_hall), 3},
+	};
+
+	int _av_aoa_hall_sub_index = -1; // AoA vane index for hall effect subscription
+	int _av_slip_hall_sub_index = -1; // Slip vane index for hall effect subscription
 
 	uORB::Publication<airspeed_s>             _airspeed_pub{ORB_ID(airspeed)};
 	uORB::Publication<sensor_combined_s>      _sensor_pub{ORB_ID(sensor_combined)};
+	uORB::Publication<airflow_aoa_s>          _airflow_aoa_pub{ORB_ID(airflow_aoa)};
+	uORB::Publication<airflow_slip_s>         _airflow_slip_pub{ORB_ID(airflow_slip)};
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
@@ -156,6 +170,26 @@ private:
 		int32_t air_cmodel;
 		float air_tube_length;
 		float air_tube_diameter_mm;
+
+		int32_t CAL_AV_AOA_ID;
+		float CAL_AV_AOA_OFF;
+		float CAL_AV_AOA_MIN;
+		float CAL_AV_AOA_MAX;
+		float CAL_AV_AOA_REV;
+		float CAL_AV_AOA_P0;
+		float CAL_AV_AOA_P1;
+		float CAL_AV_AOA_P2;
+		float CAL_AV_AOA_P3;
+
+		int32_t CAL_AV_SLIP_ID;
+		float CAL_AV_SLIP_OFF;
+		float CAL_AV_SLIP_MIN;
+		float CAL_AV_SLIP_MAX;
+		float CAL_AV_SLIP_REV;
+		float CAL_AV_SLIP_P0;
+		float CAL_AV_SLIP_P1;
+		float CAL_AV_SLIP_P2;
+		float CAL_AV_SLIP_P3;
 	} _parameters{}; /**< local copies of interesting parameters */
 
 	struct ParameterHandles {
@@ -167,6 +201,26 @@ private:
 		param_t air_cmodel;
 		param_t air_tube_length;
 		param_t air_tube_diameter_mm;
+
+		param_t CAL_AV_AOA_ID;
+		param_t CAL_AV_AOA_OFF;
+		param_t CAL_AV_AOA_MIN;
+		param_t CAL_AV_AOA_MAX;
+		param_t CAL_AV_AOA_REV;
+		param_t CAL_AV_AOA_P0;
+		param_t CAL_AV_AOA_P1;
+		param_t CAL_AV_AOA_P2;
+		param_t CAL_AV_AOA_P3;
+
+		param_t CAL_AV_SLIP_ID;
+		param_t CAL_AV_SLIP_OFF;
+		param_t CAL_AV_SLIP_MIN;
+		param_t CAL_AV_SLIP_MAX;
+		param_t CAL_AV_SLIP_REV;
+		param_t CAL_AV_SLIP_P0;
+		param_t CAL_AV_SLIP_P1;
+		param_t CAL_AV_SLIP_P2;
+		param_t CAL_AV_SLIP_P3;
 	} _parameter_handles{};		/**< handles for interesting parameters */
 
 	VotedSensorsUpdate _voted_sensors_update;
@@ -205,6 +259,16 @@ private:
 	 */
 	void		adc_poll();
 
+	/**
+	 * Poll the hall effect sensor for updated data.
+	 */
+	void    hall_poll();
+
+	/**
+	 * Get the hall sensor subscription index for a given driver id.
+	 */
+	int   getHallSubIndex(const int av_driver_id);
+
 	void		InitializeVehicleAirData();
 	void		InitializeVehicleGPSPosition();
 	void		InitializeVehicleIMU();
@@ -233,6 +297,25 @@ Sensors::Sensors(bool hil_enabled) :
 	_parameter_handles.air_cmodel = param_find("CAL_AIR_CMODEL");
 	_parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
 	_parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
+	_parameter_handles.CAL_AV_AOA_ID = param_find("CAL_AV_AOA_ID");
+	_parameter_handles.CAL_AV_AOA_OFF = param_find("CAL_AV_AOA_OFF");
+	_parameter_handles.CAL_AV_AOA_MIN = param_find("CAL_AV_AOA_MIN");
+	_parameter_handles.CAL_AV_AOA_MAX = param_find("CAL_AV_AOA_MAX");
+	_parameter_handles.CAL_AV_AOA_REV = param_find("CAL_AV_AOA_REV");
+	_parameter_handles.CAL_AV_AOA_P0 = param_find("CAL_AV_AOA_P0");
+	_parameter_handles.CAL_AV_AOA_P1 = param_find("CAL_AV_AOA_P1");
+	_parameter_handles.CAL_AV_AOA_P2 = param_find("CAL_AV_AOA_P2");
+	_parameter_handles.CAL_AV_AOA_P3 = param_find("CAL_AV_AOA_P3");
+
+	_parameter_handles.CAL_AV_SLIP_ID = param_find("CAL_AV_SLIP_ID");
+	_parameter_handles.CAL_AV_SLIP_OFF = param_find("CAL_AV_SLIP_OFF");
+	_parameter_handles.CAL_AV_SLIP_MIN = param_find("CAL_AV_SLIP_MIN");
+	_parameter_handles.CAL_AV_SLIP_MAX = param_find("CAL_AV_SLIP_MAX");
+	_parameter_handles.CAL_AV_SLIP_REV = param_find("CAL_AV_SLIP_REV");
+	_parameter_handles.CAL_AV_SLIP_P0 = param_find("CAL_AV_SLIP_P0");
+	_parameter_handles.CAL_AV_SLIP_P1 = param_find("CAL_AV_SLIP_P1");
+	_parameter_handles.CAL_AV_SLIP_P2 = param_find("CAL_AV_SLIP_P2");
+	_parameter_handles.CAL_AV_SLIP_P3 = param_find("CAL_AV_SLIP_P3");
 
 	param_find("SYS_FAC_CAL_MODE");
 
@@ -306,6 +389,35 @@ int Sensors::parameters_update()
 	param_get(_parameter_handles.air_tube_length, &_parameters.air_tube_length);
 	param_get(_parameter_handles.air_tube_diameter_mm, &_parameters.air_tube_diameter_mm);
 
+	param_get(_parameter_handles.CAL_AV_AOA_ID, &_parameters.CAL_AV_AOA_ID);
+	param_get(_parameter_handles.CAL_AV_AOA_OFF, &_parameters.CAL_AV_AOA_OFF);
+	param_get(_parameter_handles.CAL_AV_AOA_MIN, &_parameters.CAL_AV_AOA_MIN);
+	param_get(_parameter_handles.CAL_AV_AOA_MAX, &_parameters.CAL_AV_AOA_MAX);
+	param_get(_parameter_handles.CAL_AV_AOA_REV, &_parameters.CAL_AV_AOA_REV);
+	int32_t temp_param{0};
+	param_get(_parameter_handles.CAL_AV_AOA_P0, &temp_param);
+	_parameters.CAL_AV_AOA_P0 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_AOA_P1, &temp_param);
+	_parameters.CAL_AV_AOA_P1 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_AOA_P2, &temp_param);
+	_parameters.CAL_AV_AOA_P2 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_AOA_P3, &temp_param);
+	_parameters.CAL_AV_AOA_P3 = float(temp_param) * 1e-7f;
+
+	param_get(_parameter_handles.CAL_AV_SLIP_ID, &_parameters.CAL_AV_SLIP_ID);
+	param_get(_parameter_handles.CAL_AV_SLIP_OFF, &_parameters.CAL_AV_SLIP_OFF);
+	param_get(_parameter_handles.CAL_AV_SLIP_MIN, &_parameters.CAL_AV_SLIP_MIN);
+	param_get(_parameter_handles.CAL_AV_SLIP_MAX, &_parameters.CAL_AV_SLIP_MAX);
+	param_get(_parameter_handles.CAL_AV_SLIP_REV, &_parameters.CAL_AV_SLIP_REV);
+	param_get(_parameter_handles.CAL_AV_SLIP_P0, &temp_param);
+	_parameters.CAL_AV_SLIP_P0 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_SLIP_P1, &temp_param);
+	_parameters.CAL_AV_SLIP_P1 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_SLIP_P2, &temp_param);
+	_parameters.CAL_AV_SLIP_P2 = float(temp_param) * 1e-7f;
+	param_get(_parameter_handles.CAL_AV_SLIP_P3, &temp_param);
+	_parameters.CAL_AV_SLIP_P3 = float(temp_param) * 1e-7f;
+
 	_voted_sensors_update.parametersUpdate();
 
 	return PX4_OK;
@@ -475,6 +587,108 @@ void Sensors::adc_poll()
 #endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
 }
 
+void Sensors::hall_poll()
+{
+	// process aoa measurements if enabled and valid
+	if ((_av_aoa_hall_sub_index >= 0) && (_av_aoa_hall_sub_index < MAX_SENSOR_COUNT)) {
+		// A hall sensor with selected driver ID for the AoA vane has been found/set
+		struct sensor_hall_s sensor_hall;
+
+		if (_sensor_hall_subs[_av_aoa_hall_sub_index].update(&sensor_hall)) {
+			airflow_aoa_s airflow_aoa;
+			airflow_aoa.timestamp = hrt_absolute_time();
+			airflow_aoa.valid = false;
+
+			float aoa_deg = _parameters.CAL_AV_AOA_REV * (_parameters.CAL_AV_AOA_P0
+					+ _parameters.CAL_AV_AOA_P1 * sensor_hall.mag_t
+					+ _parameters.CAL_AV_AOA_P2 * sensor_hall.mag_t * sensor_hall.mag_t
+					+ _parameters.CAL_AV_AOA_P3 * sensor_hall.mag_t * sensor_hall.mag_t * sensor_hall.mag_t);
+
+			// check if aoa measurement is in sensor/calibration range
+			if (aoa_deg > _parameters.CAL_AV_AOA_MAX) {
+				airflow_aoa.aoa_rad = math::radians(_parameters.CAL_AV_AOA_MAX);
+
+			} else if (aoa_deg >= _parameters.CAL_AV_AOA_MIN) {
+				airflow_aoa.aoa_rad = math::radians(aoa_deg - _parameters.CAL_AV_AOA_OFF);
+				airflow_aoa.valid = true;
+
+			} else {
+				airflow_aoa.aoa_rad = math::radians(_parameters.CAL_AV_AOA_MIN);
+			}
+
+			_airflow_aoa_pub.publish(airflow_aoa);
+		}
+	}
+
+
+	// process sideslip measurements if enabled and valid
+	if ((_av_slip_hall_sub_index >= 0) && (_av_slip_hall_sub_index < MAX_SENSOR_COUNT)) {
+		// A hall sensor with selected driver ID for the slip vane has been found/set
+		struct sensor_hall_s sensor_hall;
+
+		if (_sensor_hall_subs[_av_slip_hall_sub_index].update(&sensor_hall)) {
+			airflow_slip_s airflow_slip;
+			airflow_slip.timestamp = hrt_absolute_time();
+			airflow_slip.valid = false;
+
+			float slip_deg = _parameters.CAL_AV_SLIP_REV * (_parameters.CAL_AV_SLIP_P0
+					 + _parameters.CAL_AV_SLIP_P1 * sensor_hall.mag_t
+					 + _parameters.CAL_AV_SLIP_P2 * sensor_hall.mag_t * sensor_hall.mag_t
+					 + _parameters.CAL_AV_SLIP_P3 * sensor_hall.mag_t * sensor_hall.mag_t * sensor_hall.mag_t);
+
+			/* check if slip measurement is in sensor/calibration range */
+			if (slip_deg > _parameters.CAL_AV_SLIP_MAX) {
+				airflow_slip.slip_rad = math::radians(_parameters.CAL_AV_SLIP_MAX);
+
+			} else if (slip_deg >= _parameters.CAL_AV_SLIP_MIN) {
+				airflow_slip.slip_rad = math::radians(slip_deg - _parameters.CAL_AV_SLIP_OFF);
+				airflow_slip.valid = true;
+
+			} else {
+				airflow_slip.slip_rad = math::radians(_parameters.CAL_AV_SLIP_MIN);
+			}
+
+			_airflow_slip_pub.publish(airflow_slip);
+		}
+	}
+
+	// finding the indices needs to be done after processing the measurements since we are copying the
+	// messages and that would mess with the updated flags of the subscribers
+
+	// find the AoA hall sensor index if not set yet
+	if (_parameters.CAL_AV_AOA_ID >= 0 && _av_aoa_hall_sub_index < 0) {
+		_av_aoa_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_AOA_ID);
+
+		if (_av_aoa_hall_sub_index >= 0) {
+			PX4_INFO("AoA vane using hall sensor with driver ID %d", _parameters.CAL_AV_AOA_ID);
+		}
+	}
+
+	// find the Slip hall sensor index if not set yet
+	if (_parameters.CAL_AV_SLIP_ID >= 0 && _av_slip_hall_sub_index < 0) {
+		_av_slip_hall_sub_index = getHallSubIndex(_parameters.CAL_AV_SLIP_ID);
+
+		if (_av_slip_hall_sub_index >= 0) {
+			PX4_INFO("Slip vane using hall sensor with driver ID %d", _parameters.CAL_AV_SLIP_ID);
+		}
+	}
+}
+
+int Sensors::getHallSubIndex(const int av_driver_id)
+{
+	for (unsigned i = 0; i < MAX_SENSOR_COUNT; i++) {
+		sensor_hall_s sensor_hall;
+
+		if (_sensor_hall_subs[i].copy(&sensor_hall)) {
+			if (sensor_hall.instance == av_driver_id) {
+				return i;
+			}
+		}
+	}
+
+	return -1;
+}
+
 void Sensors::InitializeVehicleAirData()
 {
 	if (_param_sys_has_baro.get()) {
@@ -600,6 +814,7 @@ void Sensors::Run()
 	adc_poll();
 
 	diff_pres_poll();
+	hall_poll();
 
 	if (_sensor_combined.timestamp != _sensor_combined_prev_timestamp) {