[modules] broadcast airspeed over ABI

conf/abi.xml

@@ -73,13 +73,17 @@
       <field name="z" type="float" unit="m/s"/>
       <field name="noise" type="float"/>
     </message>
-    
+
     <message name="RSSI" id="13">
       <field name="ac_id" type="uint8_t"/>
       <field name="source_strength" type="int8_t" unit="dB"/>
       <field name="rssi" type="int8_t" unit="dB"/>
     </message>
 
+    <message name="AIRSPEED" id="14">
+      <field name="eas" type="float" unit="m/s"/>
+    </message>
+
   </msg_class>
 
 </protocol>

sw/airborne/modules/air_data/air_data.c

@@ -59,6 +59,13 @@ static abi_event pressure_diff_ev;
 #endif
 static abi_event temperature_ev;
 
+/** ABI binding for airspeed
+ */
+#ifndef AIR_DATA_AIRSPEED_ID
+#define AIR_DATA_AIRSPEED_ID ABI_BROADCAST
+#endif
+static abi_event airspeed_ev;
+
 /** Default factor to convert estimated airspeed (EAS) to true airspeed (TAS) */
 #ifndef AIR_DATA_TAS_FACTOR
 #define AIR_DATA_TAS_FACTOR 1.0
@@ -144,6 +151,17 @@ static void temperature_cb(uint8_t __attribute__((unused)) sender_id, float temp
   }
 }
 
+static void airspeed_cb(uint8_t __attribute__((unused)) sender_id, float eas)
+{
+  air_data.airspeed = eas;
+  if (air_data.calc_airspeed) {
+    air_data.tas = tas_from_eas(air_data.airspeed);
+#if USE_AIRSPEED_AIR_DATA
+    stateSetAirspeed_f(air_data.airspeed);
+#endif
+  }
+}
+
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
@@ -205,6 +223,7 @@ void air_data_init(void)
   AbiBindMsgBARO_ABS(AIR_DATA_BARO_ABS_ID, &pressure_abs_ev, pressure_abs_cb);
   AbiBindMsgBARO_DIFF(AIR_DATA_BARO_DIFF_ID, &pressure_diff_ev, pressure_diff_cb);
   AbiBindMsgTEMPERATURE(AIR_DATA_TEMPERATURE_ID, &temperature_ev, temperature_cb);
+  AbiBindMsgAIRSPEED(AIR_DATA_AIRSPEED_ID, &airspeed_ev, airspeed_cb);
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BARO_RAW, send_baro_raw);

sw/airborne/modules/sensors/mag_pitot_uart.c

@@ -108,7 +108,7 @@ static inline void mag_pitot_parse_msg(void)
   case DL_IMCU_REMOTE_AIRSPEED: {
     // Should be updated to differential pressure
     float pitot_ias = DL_IMCU_REMOTE_AIRSPEED_pitot_IAS(mp_msg_buf);
-    stateSetAirspeed_f(pitot_ias);
+    AbiSendMsgAIRSPEED(IMU_MAG_PITOT_ID, pitot_ias);
     break;
   }