Allow negative differential pressure if parameter enabled (#24434)

src/drivers/differential_pressure/asp5033/ASP5033.cpp

@@ -40,6 +40,7 @@
  */
 
 #include "ASP5033.hpp"
+#include <parameters/param.h>
 
 ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
 	I2C(config),
@@ -232,6 +233,15 @@ int ASP5033::collect()
 		differential_pressure.timestamp_sample = timestamp_sample;
 		differential_pressure.device_id = get_device_id();
 		differential_pressure.differential_pressure_pa = _pressure;
+		int32_t differential_press_rev = 0;
+		param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+		//If differential pressure reverse param set, swap positive and negative
+		if (differential_press_rev == 1) {
+			differential_pressure.differential_pressure_pa = -1.0f * _pressure;
+		}
+
+
 		differential_pressure.temperature = _temperature ;
 		differential_pressure.error_count = perf_event_count(_comms_errors);
 		differential_pressure.timestamp = timestamp_sample;

src/drivers/differential_pressure/auav/AUAV_Differential.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "AUAV_Differential.hpp"
+#include <parameters/param.h>
 
 AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
 	AUAV(config)
@@ -46,6 +47,14 @@ void AUAV_Differential::publish_pressure(const float pressure_p, const float tem
 	differential_pressure.timestamp_sample = timestamp_sample;
 	differential_pressure.device_id = get_device_id();
 	differential_pressure.differential_pressure_pa = pressure_p;
+	int32_t differential_press_rev = 0;
+	param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+	//If differential pressure reverse param set, swap positive and negative
+	if (differential_press_rev == 1) {
+		differential_pressure.differential_pressure_pa = -1.0f * pressure_p;
+	}
+
 	differential_pressure.temperature = temperature_c;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/ets/ETSAirspeed.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "ETSAirspeed.hpp"
+#include <parameters/param.h>
 
 ETSAirspeed::ETSAirspeed(const I2CSPIDriverConfig &config) :
 	I2C(config),
@@ -113,6 +114,14 @@ int ETSAirspeed::collect()
 	differential_pressure.timestamp_sample = timestamp_sample;
 	differential_pressure.device_id = get_device_id();
 	differential_pressure.differential_pressure_pa = diff_press_pa;
+	int32_t differential_press_rev = 0;
+	param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+	//If differential pressure reverse param set, swap positive and negative
+	if (differential_press_rev == 1) {
+		differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
+	}
+
 	differential_pressure.temperature = NAN;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();

src/drivers/differential_pressure/ms4515/MS4515.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "MS4515.hpp"
+#include <parameters/param.h>
 
 MS4515::MS4515(const I2CSPIDriverConfig &config) :
 	I2C(config),
@@ -163,6 +164,14 @@ int MS4515::collect()
 		differential_pressure.timestamp_sample = timestamp_sample;
 		differential_pressure.device_id = get_device_id();
 		differential_pressure.differential_pressure_pa = diff_press_pa;
+		int32_t differential_press_rev = 0;
+		param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+		//If differential pressure reverse param set, swap positive and negative
+		if (differential_press_rev == 1) {
+			differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
+		}
+
 		differential_pressure.temperature = temperature_c;
 		differential_pressure.error_count = perf_event_count(_comms_errors);
 		differential_pressure.timestamp = hrt_absolute_time();

src/drivers/differential_pressure/ms4525do/MS4525DO.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "MS4525DO.hpp"
+#include <parameters/param.h>
 
 using namespace time_literals;
 
@@ -200,6 +201,14 @@ void MS4525DO::RunImpl()
 					differential_pressure.timestamp_sample = _timestamp_sample;
 					differential_pressure.device_id = get_device_id();
 					differential_pressure.differential_pressure_pa = diff_press_pa;
+					int32_t differential_press_rev = 0;
+					param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+					//If differential pressure reverse param set, swap positive and negative
+					if (differential_press_rev == 1) {
+						differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
+					}
+
 					differential_pressure.temperature = temperature_c;
 					differential_pressure.error_count = perf_event_count(_comms_errors);
 					differential_pressure.timestamp = hrt_absolute_time();

src/drivers/differential_pressure/ms5525dso/MS5525DSO.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "MS5525DSO.hpp"
+#include <parameters/param.h>
 
 MS5525DSO::MS5525DSO(const I2CSPIDriverConfig &config) :
 	I2C(config),
@@ -308,6 +309,14 @@ int MS5525DSO::collect()
 	differential_pressure.timestamp_sample = timestamp_sample;
 	differential_pressure.device_id = get_device_id();
 	differential_pressure.differential_pressure_pa = diff_press_pa;
+	int32_t differential_press_rev = 0;
+	param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+	//If differential pressure reverse param set, swap positive and negative
+	if (differential_press_rev == 1) {
+		differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
+	}
+
 	differential_pressure.temperature = temperature_c;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();

src/drivers/differential_pressure/sdp3x/SDP3X.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "SDP3X.hpp"
+#include <parameters/param.h>
 
 using namespace time_literals;
 
@@ -187,6 +188,14 @@ int SDP3X::collect()
 	differential_pressure.timestamp_sample = timestamp_sample;
 	differential_pressure.device_id = get_device_id();
 	differential_pressure.differential_pressure_pa = diff_press_pa;
+	int32_t differential_press_rev = 0;
+	param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+	//If differential pressure reverse param set, swap positive and negative
+	if (differential_press_rev == 1) {
+		differential_pressure.differential_pressure_pa = -1.0f * diff_press_pa;
+	}
+
 	differential_pressure.temperature = temperature_c;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();

src/drivers/uavcan/sensors/differential_pressure.cpp

@@ -69,8 +69,15 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
 
 	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_UAVCAN;
 	_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
-
 	float diff_press_pa = msg.differential_pressure;
+	int32_t differential_press_rev = 0;
+	param_get(param_find("SENS_DPRES_REV"), &differential_press_rev);
+
+	//If differential pressure reverse param set, swap positive and negative
+	if (differential_press_rev == 1) {
+		diff_press_pa = -1.0f * msg.differential_pressure;
+	}
+
 	float temperature_c = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius;
 
 	differential_pressure_s report{};

src/modules/commander/airspeed_calibration.cpp

@@ -168,7 +168,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 					/* do not allow negative values */
 					calibration_log_critical(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)",
 								 (int)differential_pressure_pa);
-					calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
+					calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports or set SENS_DPRES_REV");
 
 					/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
 					diff_pres_offset = 0.0f;

src/modules/sensors/sensor_params.c

@@ -87,6 +87,18 @@ PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);
  */
 PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
 
+/**
+ * Reverse differential pressure sensor readings
+ *
+ * Reverse the raw measurements of all differential pressure sensors.
+ * This can be enabled if the sensors have static and dynamic ports swapped.
+ *
+ * @category system
+ * @group Sensor Calibration
+ * @boolean
+ */
+PARAM_DEFINE_INT32(SENS_DPRES_REV, 0);
+
 /**
  * Differential pressure sensor analog scaling
  *