Airspeed consistency check with onboard wind estimation (#3478)

* initial commit airspeed consistency check module
* small edit
* address comments
* use INFO_MSG for airspeed consistency module

conf/airframes/tudelft/rotwing_v3b.xml

@@ -143,6 +143,7 @@
         <module name="rotwing_state"/>
         <module name="preflight_checks"/>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/airframes/tudelft/rotwing_v3d.xml

@@ -136,6 +136,7 @@
             <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
         </module>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/airframes/tudelft/rotwing_v3e.xml

@@ -136,6 +136,7 @@
             <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
         </module>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/airframes/tudelft/rotwing_v3f.xml

@@ -134,6 +134,7 @@
             <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
         </module>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/airframes/tudelft/rotwing_v3g.xml

@@ -136,6 +136,7 @@
             <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
         </module>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/airframes/tudelft/rotwing_v3h.xml

@@ -136,6 +136,7 @@
             <define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
         </module>
         <module name="pfc_actuators"/>
+        <module name="airspeed_consistency"/>
         <module name="agl_dist"/>
         <module name="approach_moving_target"/>
     </firmware>

conf/modules/airspeed_consistency.xml

@@ -0,0 +1,28 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="airspeed_consistency" dir="checks">
+  <doc>
+    <description>
+      Check consistency of airspeed measurements while flying circles.
+    </description>
+  </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="Airspeed Consistency">
+        <dl_setting var="asc_reset" min="0" max="1" step="1" values="FALSE|TRUE" type="bool" module="modules/checks/airspeed_consistency" handler="reset"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+  <dep>
+    <depends></depends>
+  </dep>
+  <header>
+    <file name="airspeed_consistency.h"/>
+  </header>
+    <init fun="airspeed_consistency_init()"/>
+    <periodic fun="airspeed_consistency_periodic()" freq="1"/>
+  <makefile>
+    <file name="airspeed_consistency.c"/>
+    <file name="pprz_circfit_float.c" dir="math"/>
+  </makefile>
+</module>

conf/userconf/tudelft/conf.xml

@@ -601,7 +601,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotwing_EHVB.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_consistency.xml modules/airspeed_ms45xx_i2c.xml modules/airspeed_uavcan.xml modules/approach_moving_target.xml modules/eff_scheduling_rotwing.xml modules/ekf_aw.xml modules/electrical.xml modules/follow_me.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/parachute.xml modules/pfc_actuators.xml modules/preflight_checks.xml modules/rotwing_state.xml modules/stabilization_indi.xml modules/sys_id_auto_doublets.xml modules/sys_id_doublet.xml modules/target_pos.xml"
    gui_color="red"
   />
   <aircraft

sw/airborne/math/pprz_circfit_float.c

@@ -0,0 +1,82 @@
+/*
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+#include "math/pprz_circfit_float.h"
+#include <math.h>
+
+#ifndef PPRZ_CIRCFIT_EPSILON
+#define PPRZ_CIRCFIT_EPSILON 1e-3f
+#endif
+
+#ifndef PPRZ_CIRCFIT_ITER_MAX
+#define PPRZ_CIRCFIT_ITER_MAX 250
+#endif
+
+enum CircFitStatus_t pprz_circfit_wei_float(struct circle_t *c, const float *x, const float *y, uint16_t n, struct circle_t *g) {
+
+  // Check if initial guess is provided
+  if (g != NULL) {
+    c->r = g->r;
+    c->x = g->x;
+    c->y = g->y;
+  } else {
+    c->x = 0.0f;
+    c->y = 0.0f;
+    c->r = 1.0f;
+  }
+
+  float norm[n];
+  float x_prev = 0;
+  float y_prev = 0;
+  float r_prev = -1;
+  uint16_t i = 0;
+    
+  while (fabsf(c->r - r_prev) > PPRZ_CIRCFIT_EPSILON || fabsf(c->x - x_prev) > PPRZ_CIRCFIT_EPSILON || fabsf(c->y - y_prev) > PPRZ_CIRCFIT_EPSILON) {
+    
+    float sum_norm = 0.0f;
+    x_prev = c->x;
+    y_prev = c->y;
+    r_prev = c->r;
+
+    // Prepare ||x - c||
+    for (int i = 0; i < n; i++) {
+      norm[i] = sqrtf((x[i] - x_prev) * (x[i] - x_prev) + (y[i] - y_prev) * (y[i] - y_prev));
+      sum_norm += norm[i];
+    }
+
+    c->r = sum_norm / n;
+    
+    for (int i = 0; i < n; i++) {
+      c->x += x[i] + c->r * (x_prev - x[i]) / norm[i];
+      c->y += y[i] + c->r * (y_prev - y[i]) / norm[i];
+    }
+
+    c->x /= n;
+    c->y /= n;
+
+    if (i >= PPRZ_CIRCFIT_ITER_MAX) {
+      return CIRC_FIT_ITERATION_LIMIT; // Reached iteration limit
+    }
+
+    i++;
+    
+  }
+
+  return CIRC_FIT_OK; // Circle fit successful
+
+}

sw/airborne/math/pprz_circfit_float.h

@@ -0,0 +1,51 @@
+/*
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef PPRZ_CIRCFIT_FLOAT_H
+#define PPRZ_CIRCFIT_FLOAT_H
+
+#include <std.h>
+
+enum CircFitStatus_t {
+  CIRC_FIT_OK = 0,                  // Circle fit successful
+  CIRC_FIT_ERROR = -1,              // Circle fit failed
+  CIRC_FIT_ITERATION_LIMIT = -2     // Circle fit reached iteration limit
+};
+
+struct circle_t {
+  float x;  // x coordinate of the circle center
+  float y;  // y coordinate of the circle center
+  float r;  // radius of the circle
+};
+
+/*
+  * Fitting Noisy Data to a Circle: A Simple Iterative Maximum Likelihood Approach
+  * Wei Li, et al.
+  * DOI: 10.1109/icc.2011.5963101
+  * 
+  * inputs:
+  *   c: struct to store the fitted circle
+  *   x: x coordinates used during fitting
+  *   y: y coordinates used during fitting
+  *   n: number of points
+  *   g: initial guess for the circle (NULL for no initial guess)
+  */
+enum CircFitStatus_t pprz_circfit_wei_float(struct circle_t *c, const float *x, const float *y, uint16_t n, struct circle_t *g); 
+
+
+#endif // PPRZ_CIRCFIT_FLOAT_H

sw/airborne/modules/checks/airspeed_consistency.c

@@ -0,0 +1,140 @@
+/*
+ * Copyright (C) 2025 Noah Wechtler <noahwechtler@tudelft.nl>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/checks/airspeed_consistency.c"
+ * @author Noah Wechtler <noahwechtler@tudelft.nl>
+ * Simple consistency check for airspeed measurements while flying circles
+ */
+
+#include "modules/checks/airspeed_consistency.h"
+#include "navigation.h"
+#include "state.h"
+#include "filters/low_pass_filter.h"
+#include "generated/modules.h"
+#include "modules/core/abi.h"
+#include "modules/datalink/telemetry.h"
+#include "modules/nav/nav_rotorcraft_base.h"
+
+#ifndef AIRSPEED_CONSISTENCY_MIN_SAMPLES
+#define AIRSPEED_CONSISTENCY_MIN_SAMPLES 20 // Minimum number of samples before circle fitting starts
+#endif
+
+#ifndef AIRSPEED_CONSISTENCY_INTERVAL
+#define AIRSPEED_CONSISTENCY_INTERVAL 10
+#endif
+
+#if AIRSPEED_CONSISTENCY_BUFFER_SIZE < AIRSPEED_CONSISTENCY_MIN_SAMPLES
+#error "AIRSPEED_CONSISTENCY_BUFFER_SIZE must be larger than or equal to AIRSPEED_CONSISTENCY_MIN_SAMPLES"
+#endif
+
+#if AIRSPEED_CONSISTENCY_BUFFER_SIZE > UINT16_MAX
+#error "AIRSPEED_CONSISTENCY_BUFFER_SIZE must be less than or equal to UINT16_MAX"
+#endif
+
+bool asc_reset = false; // Flag to reset the airspeed consistency check
+
+static void save_speeds(void);
+static void reset_speeds(void);
+static enum CircFitStatus_t get_circle_from_speeds(struct circle_t *c, float *N, float *E);
+
+static struct asc_t asc = {0};
+static Butterworth2LowPass tas_filt;
+
+void airspeed_consistency_init(void) {
+  reset_speeds();
+  float tau   = 1.0 / (2.0 * M_PI);
+  init_butterworth_2_low_pass(&tas_filt, tau, 1.0 / NAVIGATION_FREQUENCY, 0.0);
+}
+
+void airspeed_consistency_periodic(void) {
+  struct FloatVect2 diff;
+  VECT2_DIFF(diff, nav_rotorcraft_base.circle.center, *stateGetPositionEnu_f());
+  float dist_to_point = float_vect2_norm(&diff);
+
+  if (nav.horizontal_mode != NAV_HORIZONTAL_MODE_CIRCLE || dist_to_point > fabsf(nav_rotorcraft_base.circle.radius) + ARRIVED_AT_WAYPOINT
+    || dist_to_point < fabsf(nav_rotorcraft_base.circle.radius) - ARRIVED_AT_WAYPOINT) {
+    // Wipe old data if not flying circles
+    if (asc.i != 0) {
+      reset_speeds();
+    }
+    return;
+  }
+
+  save_speeds();
+
+  RunOnceEvery(AIRSPEED_CONSISTENCY_PERIODIC_FREQ * AIRSPEED_CONSISTENCY_INTERVAL, {
+    if (asc.filled || asc.i >= AIRSPEED_CONSISTENCY_MIN_SAMPLES) {
+      asc.as_circ_status = get_circle_from_speeds(&asc.as, asc.as_N, asc.as_E);
+      asc.gs_circ_status = get_circle_from_speeds(&asc.gs, asc.gs_N, asc.gs_E);
+    }
+
+    if (asc.as_circ_status == CIRC_FIT_OK && asc.gs_circ_status == CIRC_FIT_OK && asc.as.r > 1e-3) {
+      asc.ratio = asc.gs.r / asc.as.r; // Calculate the ratio of the radii of the circles
+      asc.ratio *= asc.ratio; // Square the ratio so it can be multiplied with the current airspeed sensor scale
+      char error_msg[100];
+      int rc = snprintf(error_msg, sizeof(error_msg), "ASC: ratio squared = %.4f", asc.ratio);
+      DOWNLINK_SEND_INFO_MSG(DefaultChannel, DefaultDevice, rc, error_msg);
+#if FLIGHTRECORDER_SDLOG
+      pprz_msg_send_INFO_MSG(&pprzlog_tp.trans_tx, &flightrecorder_sdlog.device, AC_ID, rc, error_msg);
+#endif
+    }
+  });
+}
+
+static void save_speeds(void) { 
+  asc.gs_N[asc.i] = stateGetSpeedNed_f()->x;
+  asc.gs_E[asc.i] = stateGetSpeedNed_f()->y;
+
+  update_butterworth_2_low_pass(&tas_filt, air_data.tas);
+  float psi = stateGetNedToBodyEulers_f()->psi;
+  asc.as_N[asc.i] = tas_filt.o[0] * cosf(psi);
+  asc.as_E[asc.i] = tas_filt.o[0] * sinf(psi);
+  
+  asc.i++;
+  if (asc.i >= AIRSPEED_CONSISTENCY_BUFFER_SIZE) {
+    asc.filled = true; // Set to true if the buffer has been filled once
+    asc.i = 0;
+  }
+}
+
+static void reset_speeds(void) {
+  asc.filled = false;
+  asc.i = 0;
+  asc.as_circ_status = CIRC_FIT_ERROR;
+  asc.gs_circ_status = CIRC_FIT_ERROR;
+  
+  for (int j = 0; j < AIRSPEED_CONSISTENCY_BUFFER_SIZE; j++) {
+    asc.gs_N[j] = NAN;
+    asc.gs_E[j] = NAN;
+    asc.as_N[j] = NAN;
+    asc.as_E[j] = NAN;
+  }
+}
+
+static enum CircFitStatus_t get_circle_from_speeds(struct circle_t *c, float *X, float *Y) {
+  uint16_t N = asc.filled? AIRSPEED_CONSISTENCY_BUFFER_SIZE : asc.i;
+  enum CircFitStatus_t status = pprz_circfit_wei_float(c, X, Y, N, NULL); // Feeding the last estimated circle as initial guess leads to NaNs here
+  return status;
+}
+
+void airspeed_consistency_reset(bool __attribute__((unused)) reset) {
+  reset_speeds();
+}

sw/airborne/modules/checks/airspeed_consistency.h

@@ -0,0 +1,58 @@
+/*
+ * Copyright (C) 2025 Noah Wechtler <noahwechtler@tudelft.nl>
+ *
+ * This file is part of paparazzi
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/checks/airspeed_consistency.h"
+ * @author Noah Wechtler <noahwechtler@tudelft.nl>
+ * Check the consistency of airspeed measurements while flying circles
+ */
+
+#ifndef AIRSPEED_CONSISTENCY_H
+#define AIRSPEED_CONSISTENCY_H
+
+#ifndef AIRSPEED_CONSISTENCY_BUFFER_SIZE
+#define AIRSPEED_CONSISTENCY_BUFFER_SIZE 255
+#endif
+
+#include <std.h>
+#include "math/pprz_circfit_float.h"
+#include "filters/low_pass_filter.h"
+
+extern bool asc_reset;
+
+struct asc_t {
+  bool filled;
+  uint16_t i; 
+  float gs_N[AIRSPEED_CONSISTENCY_BUFFER_SIZE];
+  float gs_E[AIRSPEED_CONSISTENCY_BUFFER_SIZE];
+  float as_N[AIRSPEED_CONSISTENCY_BUFFER_SIZE];
+  float as_E[AIRSPEED_CONSISTENCY_BUFFER_SIZE];
+  struct circle_t as;
+  struct circle_t gs;
+  enum CircFitStatus_t as_circ_status;
+  enum CircFitStatus_t gs_circ_status;
+  float ratio;
+};
+
+extern void airspeed_consistency_init(void);
+extern void airspeed_consistency_periodic(void);
+extern void airspeed_consistency_reset(bool reset); // Reset the airspeed consistency check
+
+#endif // AIRSPEED_CONSISTENCY_H

sw/ground_segment/python/rotwing_mon/rotwing_mon.py

@@ -22,15 +22,26 @@ import wx
 import rotwing_viewer
 
 class RotWingApp(wx.App):
+
+    def __init__(self, args):
+        self.args = args
+        wx.App.__init__(self)
+
     def OnInit(self):
-        self.main = rotwing_viewer.RotWingFrame()
+        self.main = rotwing_viewer.RotWingFrame(self.args)
         self.main.Show()
         self.SetTopWindow(self.main)
         return True
 
-def main():
-    application = RotWingApp(0)
+def main(args):
+    application = RotWingApp(args)
     application.MainLoop()
 
 if __name__ == '__main__':
-    main()
+    import argparse
+
+    parser = argparse.ArgumentParser(description="Rotwing Status Monitor")
+    parser.add_argument('-s', '--speech', dest='speech', default=False, type=bool, help="Rotwing status viewer speech")
+    args = parser.parse_args()
+
+    main(args)

sw/ground_segment/python/rotwing_mon/rotwing_viewer.py

@@ -24,7 +24,9 @@ import os
 import math
 import datetime
 import numpy as np
-
+import pyttsx3
+import re
+engine = pyttsx3.init()
 
 PPRZ_HOME = os.getenv("PAPARAZZI_HOME", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
                                                                     '../../../..')))
@@ -39,6 +41,18 @@ from pprzlink.ivy import IvyMessagesInterface
 WIDTH = 600
 BARH = 140
 
+class Speech(object):
+
+    def __init__(self):
+        self.last_speech_time = datetime.datetime.now()
+
+    def speak_every_interval(self, text, interval):
+        if (datetime.datetime.now() - self.last_speech_time).total_seconds() > interval:
+            self.last_speech_time = datetime.datetime.now()
+            engine.say(text)
+            engine.runAndWait()
+
+
 class EscMessage(object):
     def __init__(self, msg):
         self.id = int(msg['motor_id'])
@@ -173,6 +187,14 @@ class AIRDATAMessage(object):
         self.airspeed = float(msg['airspeed'])
         self.tas = float(msg['tas'])
 
+class INFOMSGMessage(object):
+    def __init__(self, msg):
+        str_of_char_arr = ''.join(msg['msg'])
+        str_of_char_arr = str_of_char_arr.replace('\"', '')
+        str_of_char_arr = str_of_char_arr.split(" ")
+        if str_of_char_arr[0] == 'ASC:':
+            self.ratio = float(str_of_char_arr[-1])
+
 class IMUHEATERMessage(object):
     def __init__(self, msg):
         self.meas_temp = msg['meas_temp']
@@ -362,6 +384,10 @@ class RotWingFrame(wx.Frame):
             self.air_data = AIRDATAMessage(msg)
             wx.CallAfter(self.update)
 
+        if msg.name == "INFO_MSG":
+            self.infomsg = INFOMSGMessage(msg)
+            wx.CallAfter(self.update)
+
         if msg.name == "IMU_HEATER":
             self.imu_heater = IMUHEATERMessage(msg)
             wx.CallAfter(self.update)
@@ -503,35 +529,52 @@ class RotWingFrame(wx.Frame):
             dc.DrawText("Nav airspeed: " + str(round(self.rw_status.nav_airspeed,1 )) + " [min: " + str(round(self.rw_status.min_airspeed,1 )) + ", max:" + str(round(self.rw_status.max_airspeed,1 )) + "]", 10, int(4.5*line))
             if hasattr(self, 'air_data'):
                 dc.DrawText("Meas airspeed: " + str(round(self.air_data.airspeed,1 )) + " (TAS: " + str(round(self.air_data.tas,1 )) + ")", 10, int(5.5*line))
+            
+            if hasattr(self, 'infomsg') and hasattr(self.infomsg, 'ratio'):
+            # MS45XX inflight calibration monitoring
+                if abs(1-self.infomsg.ratio) < 0.08:
+                    dc.SetTextForeground(wx.Colour(0, 0, 0))
+                    dc.DrawText("Airspeed ratio: " + str(round(self.infomsg.ratio, 2)), 10, int(6.5*line))
+                elif abs(1-self.infomsg.ratio) < 0.15:
+                    dc.SetTextForeground(wx.Colour(139, 64, 0))
+                    dc.DrawText("Airspeed ratio: " + str(round(self.infomsg.ratio, 2)), 10, int(6.5*line))
+                    if self.speech:
+                        self.airspeed_speaker.speak_every_interval("Airspeed is off by more than 8%, Please Calibrate", 30)
+                else:
+                    dc.SetTextForeground(wx.Colour(255, 0, 0))
+                    dc.DrawText("Airspeed ratio: " + str(round(self.infomsg.ratio, 2)), 10, int(6.5*line))
+                    if self.speech:
+                        self.airspeed_speaker.speak_every_interval("Airspeed is off by more than 15%, Please Calibrate", 5)
+            
             #self.StatusBox(dc, 5, 5, 0, 0, self.rw_status.get_state(), 1, 1)
             dc.SetTextForeground(wx.Colour(0, 0, 0))
-            dc.DrawText("Force Skew: ", 10, int(6.5*line))
+            dc.DrawText("Force Skew: ", 10, int(7.5*line))
             lbw = dc.GetTextExtent("Force Skew: ").width
             if self.rw_status.skew_forced:
                 dc.SetTextForeground(wx.Colour(255, 0, 0))
-                dc.DrawText("(Enabled)", 10 + lbw, int(6.5*line))
+                dc.DrawText("(Enabled)", 10 + lbw, int(7.5*line))
             else:
                 dc.SetTextForeground(wx.Colour(0, 0, 0))
-                dc.DrawText("(Disabled)", 10 + lbw, int(6.5*line))
+                dc.DrawText("(Disabled)", 10 + lbw, int(7.5*line))
             
             if hasattr(self, 'imu_heater'):
                 imu_temp = float(self.imu_heater.meas_temp)
                 if imu_temp < 65.0:
                     dc.SetTextForeground(wx.Colour(0, 0, 0))
-                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
+                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(8.5*line))
                 elif imu_temp < 85.0:
                     dc.SetTextForeground(wx.Colour(139, 64, 0))
-                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
+                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(8.5*line))
                 else:
                     dc.SetTextForeground(wx.Colour(255, 0, 0))
-                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(7.5*line))
+                    dc.DrawText("Meas IMU temp: " + str(round(imu_temp, 0)), 10, int(8.5*line))
 
             if self.powers.get_backbat() != None:
-                dc.DrawText("Back Bat: " + str(round(self.powers.get_backbat().current*self.powers.get_backbat().voltage, 1)) + "W (" + str(round(self.powers.get_backbat().voltage, 1)) + "V, " + str(round(self.powers.get_backbat().current, 1)) + "A)", 10, int(8.5*line))
+                dc.DrawText("Back Bat: " + str(round(self.powers.get_backbat().current*self.powers.get_backbat().voltage, 1)) + "W (" + str(round(self.powers.get_backbat().voltage, 1)) + "V, " + str(round(self.powers.get_backbat().current, 1)) + "A)", 10, int(9.5*line))
             if self.powers.get_frontbat() != None:
-                dc.DrawText("Front Bat: " + str(round(self.powers.get_frontbat().current*self.powers.get_frontbat().voltage, 1)) + "W (" + str(round(self.powers.get_frontbat().voltage, 1)) + "V, " + str(round(self.powers.get_frontbat().current, 1)) + "A)", 10, int(9.5*line))
+                dc.DrawText("Front Bat: " + str(round(self.powers.get_frontbat().current*self.powers.get_frontbat().voltage, 1)) + "W (" + str(round(self.powers.get_frontbat().voltage, 1)) + "V, " + str(round(self.powers.get_frontbat().current, 1)) + "A)", 10, int(10.5*line))
             if self.powers.get_backmot() != None:
-                dc.DrawText("Back Mot: " + str(round(self.powers.get_backmot().current*self.powers.get_backmot().voltage, 1)) + "W (" + str(round(self.powers.get_backmot().voltage, 1)) + "V, " + str(round(self.powers.get_backmot().current, 1)) + "A)", 10, int(10.5*line))
+                dc.DrawText("Back Mot: " + str(round(self.powers.get_backmot().current*self.powers.get_backmot().voltage, 1)) + "W (" + str(round(self.powers.get_backmot().voltage, 1)) + "V, " + str(round(self.powers.get_backmot().current, 1)) + "A)", 10, int(11.5*line))
 
         if hasattr(self, 'fuelcell'):
             dc.SetBrush(wx.Brush(wx.Colour(200,200,200)))
@@ -610,7 +653,7 @@ class RotWingFrame(wx.Frame):
             except:
                 pass
 
-    def __init__(self):
+    def __init__(self, args):
 
         self.w = WIDTH
         self.h = WIDTH + BARH
@@ -642,7 +685,12 @@ class RotWingFrame(wx.Frame):
         self.interface = IvyMessagesInterface("rotwingframe")
         self.interface.subscribe(self.message_recv)
 
+        if args.speech == True:
+            self.speech = True
+            self.airspeed_speaker = Speech()
+        else:
+            self.speech = False
+
     def OnClose(self, event):
         self.interface.shutdown()
-        self.Destroy()
-
+        self.Destroy()