[airspeed] reduce number of airspeed raw messages: (#3094)

* [airspeed] reduce number of airspeed raw messages: ETS, MS45xx, SDP3x, UAVCAN -> RAW

* compile warning

* typo

* Update sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h

* warning

* UAVCAN -> RAW

* ETS register airspeed

* AIRSPEED_RAW in telemetry

* cleanup SYNC-SEND but use register-telemetry instead

* [ardrone] Fix values variable

* [sim] Fix compile warnings discaring const

* [modules] Fix airspeed ETS

---------

Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>

conf/airframes/BR/quadshot_asp21_FutabaPPMonUart1.xml

@@ -370,7 +370,6 @@
 
         <!--Use an airspeed sensor and get the measured airspeed in the messages-->
 <!--    <module name="airspeed_ets">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
     </module>-->
 
     <module name="logger_spi_link"/>

conf/airframes/OPENUAS/openuas_eflite_t28.xml

@@ -93,7 +93,6 @@ NOTES:
         <define name="AIRSPEED_ETS_OFFSET" value="5"/> <!-- default 0 -->
         <!--<define name="AIRSPEED_ETS_USE_FILTER" value="TRUE"/> 
         <define name="AIRSPEED_ETS_LOWPASS_TAU" value=".20"/>-->
-        <define name="AIRSPEED_ETS_SYNC_SEND"/>  <!-- TODO Disable after first 10 test flights -->
       </module>
 
       <!--<module name="filter_1euro_imu"/>-->

conf/airframes/OPENUAS/openuas_multiplex_minimag.xml

@@ -101,7 +101,6 @@ NOTES:
         <define name="AIRSPEED_ETS_OFFSET" value="0"/>
         <define name="AIRSPEED_ETS_USE_FILTER" value="TRUE"/> 
         <define name="AIRSPEED_ETS_LOWPASS_TAU" value=".20"/>
-        <define name="AIRSPEED_ETS_SYNC_SEND"/>  <!-- TODO Disable after first 10 test flights -->
       </module>
 
       <!--<module name="filter_1euro_imu"/>-->

conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml

@@ -78,7 +78,6 @@ NOTES:
       <module name="gps" type="ubx_ucenter"/>
 
       <module name="airspeed_ets">
-        <define name="AIRSPEED_ETS_SYNC_SEND"/> <!-- TODO Disable after first 10 test flights -->
         <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c1"/>
         <!-- <define name="AIRSPEED_ETS_SCALE"   value="1.44"/>--> <!-- default 1.8-->
         <!-- <define name="AIRSPEED_ETS_OFFSET"  value="50"/> --> <!-- default 0 -->

conf/airframes/OPENUAS/openuas_own_flexo.xml

@@ -84,7 +84,6 @@ NOTES:
         <define name="AIRSPEED_ETS_START_DELAY" value="1"/>
         <define name="AIRSPEED_ETS_SCALE" value="1.44"/> <!-- default 1.8-->
         <define name="AIRSPEED_ETS_OFFSET" value="5"/> <!-- default 0 -->
-        <define name="AIRSPEED_ETS_SYNC_SEND"/>  <!-- TODO Disable after first 10 test flights -->
       </module>
 
       <configure name="USE_ADC_2" value="TRUE"/> <!-- For external PowerBrick Voltage measure-->

conf/airframes/OPENUAS/openuas_own_sumo_ii.xml

@@ -86,7 +86,6 @@ NOTES:
         <define name="AIRSPEED_ETS_START_DELAY" value="1"/>
         <define name="AIRSPEED_ETS_SCALE" value="1.44"/> <!-- default 1.8-->
         <define name="AIRSPEED_ETS_OFFSET" value="5"/> <!-- default 0 -->
-        <define name="AIRSPEED_ETS_SYNC_SEND"/>  <!-- TODO Disable after first 10 test flights -->
       </module>
 
       <configure name="USE_ADC_2" value="TRUE"/> <!-- For external PowerBrick Voltage measure-->

conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml

@@ -83,7 +83,6 @@
       <!--Use an airspeed sensor and get the measured airspeed in the messages-->
       <!--
       <module name="airspeed_ets.xml">
-        <define name="AIRSPEED_ETS_SYNC_SEND"/>
       </module>
       -->
       <!-- If you want raw data on SPI logger -->

conf/airframes/examples/MentorEnergy.xml

@@ -55,7 +55,6 @@
     <module name="geo_mag"/>
     <module name="gps" type="ubx_ucenter"/>
     <module name="airspeed_ets">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
       <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
     </module>
     <module name="adc_generic">

conf/airframes/examples/quadshot_asp21_FutabaPPMonUart1.xml

@@ -371,7 +371,6 @@
 
   <!--Use an airspeed sensor and get the measured airspeed in the messages-->
 <!--    <load name="airspeed_ets.xml">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
     </load>-->
 
     <module name="logger_spi_link"/>

conf/airframes/examples/quadshot_asp21_spektrum.xml

@@ -364,7 +364,6 @@
 
   <!--Use an airspeed sensor and get the measured airspeed in the messages-->
 <!--    <load name="airspeed_ets.xml">
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
     </load>-->
 
     <module name="logger_spi_link"/>

conf/airframes/examples/quadshot_pylons.xml

@@ -250,7 +250,6 @@
     <!--Use an airspeed sensor and get the measured airspeed in the messages-->
     <module name="airspeed_ets">
       <configure name="AIRSPEED_ETS_I2C_DEV" value="i2c2"/>
-      <define name="AIRSPEED_ETS_SYNC_SEND"/>
     </module>
 
     <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->

conf/modules/airspeed_ets.xml

@@ -22,7 +22,6 @@
     <define name="AIRSPEED_ETS_OFFSET" value="offset" description="sensor reading offset for sensor in proprietary mode (default: 0)"/>
     <define name="AIRSPEED_ETS_SCALE" value="scale" description="sensor scale factor for sensor in proprietary mode  (default: 1.8)"/>
     <define name="AIRSPEED_ETS_START_DELAY" value="delay" description="set initial start delay in seconds"/>
-    <define name="AIRSPEED_ETS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
     <define name="USE_AIRSPEED_ETS" value="TRUE|FALSE" description="set airspeed in state interface"/>
     <define name="AIRSPEED_ETS_3RD_PARTY_MODE"  description="read raw value for sensor in third-party mode"/>
     <define name="AIRSPEED_ETS_SDLOG" value="TRUE|FALSE" description="start logging to SD card"/>
@@ -47,6 +46,9 @@
     <test>
       <define name="USE_I2C0"/>
       <define name="USE_AIRSPEED_ETS"/>
+      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
+      <define name="DOWNLINK_DEVICE" value="uart0"/>
+      <define name="USE_UART0"/>
     </test>
   </makefile>
 

conf/telemetry/default_fixedwing.xml

@@ -72,6 +72,7 @@
       <message name="BARO_RAW"          period="0.5"/>
       <message name="IR_SENSORS"        period="0.5"/>
       <message name="IMU_GYRO_RAW"      period="0.1"/>
+      <message name="AIRSPEED_RAW"      period="0.5"/>
     </mode>
   </process>
   <process name="Fbw">

conf/telemetry/default_rotorcraft.xml

@@ -60,6 +60,7 @@
       <message name="BARO_RAW"                    period=".1"/>
       <message name="IMU_MAG_CURRENT_CALIBRATION" period=".05"/>
       <message name="ARDRONE_NAVDATA"             period=".05"/>
+      <message name="AIRSPEED_RAW"                period="0.1"/>
     </mode>
 
     <mode name="scaled_sensors">

conf/telemetry/default_rotorcraft_slow.xml

@@ -51,7 +51,8 @@
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
       <message name="BARO_RAW"          period=".1"/>
-      <message name="ARDRONE_NAVDATA" period=".05"/>
+      <message name="ARDRONE_NAVDATA"   period=".05"/>
+      <message name="AIRSPEED_RAW"      period="0.2"/>
     </mode>
 
     <mode name="scaled_sensors">

conf/telemetry/rotorcraft_with_logger.xml

@@ -50,7 +50,8 @@
       <message name="IMU_GYRO_RAW"      period=".05"/>
       <message name="IMU_MAG_RAW"       period=".05"/>
       <message name="BARO_RAW"          period=".1"/>
-      <message name="ARDRONE_NAVDATA" period=".05"/>
+      <message name="ARDRONE_NAVDATA"   period=".05"/>
+      <message name="AIRSPEED_RAW"      period=".1"/>
     </mode>
 
     <mode name="scaled_sensors">

sw/airborne/arch/sim/led_hw.c

@@ -10,7 +10,7 @@ bool led_disabled = false;
 
 value register_leds_cb(value cb_name)
 {
-  leds_closure = caml_named_value(String_val(cb_name));
+  leds_closure = (value *)caml_named_value(String_val(cb_name));
   return Val_unit;
 }
 

sw/airborne/arch/sim/sim_ap.c

@@ -107,7 +107,7 @@ value get_commands(value val_commands)
 value set_datalink_message(value s)
 {
   int n = string_length(s);
-  char *ss = String_val(s);
+  char *ss = (char *)String_val(s);
   assert(n <= MSG_SIZE);
 
   int i;

sw/airborne/boards/ardrone/actuators.c

@@ -66,6 +66,7 @@ int actuator_ardrone2_fd; /**< File descriptor for the port */
 #define ARDRONE_GPIO_PIN_IRQ_INPUT    176
 
 uint32_t led_hw_values;
+uint16_t actuators_pwm_values[ACTUATORS_ARDRONE_NB];
 
 static inline void actuators_ardrone_reset_flipflop(void)
 {

sw/airborne/boards/ardrone/actuators.h

@@ -48,7 +48,7 @@
 #define MOT_LEDGREEN 2
 #define MOT_LEDORANGE 3
 
-uint16_t actuators_pwm_values[ACTUATORS_ARDRONE_NB];
+extern uint16_t actuators_pwm_values[ACTUATORS_ARDRONE_NB];
 
 extern void actuators_ardrone_commit(void);
 extern void actuators_ardrone_init(void);

sw/airborne/modules/sensors/airspeed_ets.c

@@ -49,6 +49,10 @@
 #include "modules/datalink/downlink.h"
 #include <math.h>
 
+#if PERIODIC_TELEMETRY
+#include "modules/datalink/telemetry.h"
+#endif
+
 #ifndef USE_AIRSPEED_ETS
 #if USE_AIRSPEED
 #define USE_AIRSPEED_ETS TRUE
@@ -56,8 +60,8 @@ PRINT_CONFIG_MSG("USE_AIRSPEED_ETS automatically set to TRUE")
 #endif
 #endif
 
-#if !USE_AIRSPEED_ETS && !AIRSPEED_ETS_SYNC_SEND
-#warning either set USE_AIRSPEED_ETS or AIRSPEED_ETS_SYNC_SEND to use airspeed_ets
+#if !USE_AIRSPEED_ETS
+PRINT_CONFIG_MSG("AIRSPEED_ETS not used")
 #endif
 
 #define AIRSPEED_ETS_ADDR 0xEA
@@ -93,6 +97,7 @@ bool log_airspeed_ets_started;
 #endif
 
 
+
 // Global variables
 uint16_t airspeed_ets_raw;
 uint16_t airspeed_ets_offset;
@@ -111,6 +116,21 @@ uint16_t airspeed_ets_cnt;
 uint32_t airspeed_ets_delay_time;
 bool   airspeed_ets_delay_done;
 
+static void airspeed_ets_downlink(struct transport_tx *trans, struct link_device *dev)
+{
+  uint8_t dev_id = AIRSPEED_ETS_ID;
+  float press = 0;
+  float temp = 0;
+  float offset = airspeed_ets_offset;
+  pprz_msg_send_AIRSPEED_RAW(trans,dev,AC_ID,
+                                &dev_id,
+                                &airspeed_ets_raw,
+                                &offset,
+                                &press,
+                                &temp,
+                                &airspeed_ets);
+}
+
 void airspeed_ets_init(void)
 {
   int n;
@@ -133,6 +153,11 @@ void airspeed_ets_init(void)
   airspeed_ets_delay_done = false;
   SysTimeTimerStart(airspeed_ets_delay_time);
 
+
+#if PERIODIC_TELEMETRY
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_RAW, airspeed_ets_downlink);
+#endif
+
 #ifndef SITL
 #if AIRSPEED_ETS_SDLOG
   log_airspeed_ets_started = false;
@@ -232,9 +257,6 @@ void airspeed_ets_read_event(void)
 
 #if USE_AIRSPEED_ETS
     stateSetAirspeed_f(airspeed_ets);
-#endif
-#if AIRSPEED_ETS_SYNC_SEND
-    DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, DefaultDevice, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);
 #endif
   } else {
     airspeed_ets = 0.0;

sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c

@@ -175,9 +175,14 @@ static Butterworth2LowPass ms45xx_filter;
 
 static void ms45xx_downlink(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_AIRSPEED_MS45XX(trans,dev,AC_ID,
+  uint8_t dev_id = MS45XX_SENDER_ID;
+  float temp = ((float)ms45xx.temperature) * 0.1f;
+  pprz_msg_send_AIRSPEED_RAW(trans,dev,AC_ID,
+                                &dev_id,
+                                &ms45xx.raw_p,
+                                &ms45xx.pressure_offset,
                                 &ms45xx.pressure,
-                                &ms45xx.temperature,
+                                &temp,
                                 &ms45xx.airspeed);
 }
 
@@ -186,6 +191,7 @@ void ms45xx_i2c_init(void)
   ms45xx.pressure = 0.;
   ms45xx.temperature = 0;
   ms45xx.airspeed = 0.;
+  ms45xx.raw_p = 0;
   ms45xx.pressure_type = MS45XX_PRESSURE_TYPE;
   ms45xx.pressure_scale = MS45XX_PRESSURE_SCALE;
   ms45xx.pressure_offset = MS45XX_PRESSURE_OFFSET;
@@ -200,7 +206,7 @@ void ms45xx_i2c_init(void)
 #endif
 
 #if PERIODIC_TELEMETRY
-  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_MS45XX, ms45xx_downlink);
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_RAW, ms45xx_downlink);
 #endif
 }
 
@@ -228,6 +234,7 @@ void ms45xx_i2c_event(void)
     if (status == 0) {
       /* 14bit raw pressure */
       uint16_t p_raw = 0x3FFF & (((uint16_t)(ms45xx_trans.buf[0]) << 8) | (uint16_t)(ms45xx_trans.buf[1]));
+      ms45xx.raw_p = p_raw;
 
       /* 11bit raw temperature, 5 LSB bits not used */
       uint16_t temp_raw = 0xFFE0 & (((uint16_t)(ms45xx_trans.buf[2]) << 8) |

sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h

@@ -31,6 +31,7 @@
 struct AirspeedMs45xx {
   float pressure;              ///< (differential) pressure in Pascal
   int16_t temperature;         ///< Temperature in 0.1 deg Celcius
+  uint16_t raw_p;              ///< Raw pressure
   float airspeed;              ///< Airspeed in m/s estimated from (differential) pressure.
   bool  pressure_type;         ///< Pressure type Differential of Gauge
   float airspeed_scale;        ///< Quadratic scale factor to convert (differential) pressure to airspeed

sw/airborne/modules/sensors/airspeed_sdp3x.c

@@ -143,10 +143,13 @@ static bool sdp3x_crc(const uint8_t data[], unsigned size, uint8_t checksum)
 
 static void sdp3x_downlink(struct transport_tx *trans, struct link_device *dev)
 {
-  int16_t temp = (int16_t)(sdp3x.temperature * 10.f);
-  pprz_msg_send_AIRSPEED_MS45XX(trans,dev,AC_ID,
+  uint8_t dev_id = SDP3X_SENDER_ID;
+  pprz_msg_send_AIRSPEED_RAW(trans,dev,AC_ID,
+                                &dev_id,
+                                &sdp3x.raw_p,
+                                &sdp3x.pressure_offset,
                                 &sdp3x.pressure,
-                                &temp,
+                                &sdp3x.temperature,
                                 &sdp3x.airspeed);
 }
 
@@ -170,7 +173,7 @@ void sdp3x_init(void)
 #endif
 
 #if PERIODIC_TELEMETRY
-  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_MS45XX, sdp3x_downlink); // FIXME
+  register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_RAW, sdp3x_downlink); // FIXME
 #endif
 }
 
@@ -216,6 +219,7 @@ void sdp3x_event(void)
       }
 
       int16_t p_raw = ((int16_t)(buf[0]) << 8) | (int16_t)(buf[1]);
+      sdp3x.raw_p = (uint16_t) p_raw;
 
       float p_out = ((float)p_raw / sdp3x.pressure_scale) - sdp3x.pressure_offset;
 

sw/airborne/modules/sensors/airspeed_sdp3x.h

@@ -37,6 +37,7 @@ struct AirspeedSdp3x {
   bool autoset_offset;         ///< Set offset value from current filtered value
   bool sync_send;              ///< Flag to enable sending every new measurement via telemetry for debugging purpose
   bool initialized;            ///< init flag
+  uint16_t raw_p;              ///< raw value from chip
 };
 
 extern struct AirspeedSdp3x sdp3x;

sw/airborne/modules/sensors/airspeed_uavcan.c

@@ -61,9 +61,17 @@ struct airspeed_uavcan_s airspeed_uavcan;
 
 static void airspeed_uavcan_downlink(struct transport_tx *trans, struct link_device *dev)
 {
-  pprz_msg_send_AIRSPEED_UAVCAN(trans,dev,AC_ID,
+  uint8_t dev_id = UAVCAN_SENDER_ID;
+  uint16_t raw = 0;
+  float offset = 0;
+  float airspeed = 0;
+  pprz_msg_send_AIRSPEED_RAW(trans,dev,AC_ID,
+                                &dev_id,
+                                &raw,
+                                &offset,
                                 &airspeed_uavcan.diff_p,
-                                &airspeed_uavcan.temperature);
+                                &airspeed_uavcan.temperature,
+                                &airspeed);
 }
 
 static void airspeed_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer) {
@@ -118,6 +126,6 @@ void airspeed_uavcan_init(void)
   uavcan_bind(UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_ID, UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_SIGNATURE, &airspeed_uavcan_ev, &airspeed_uavcan_cb);
 
   #if PERIODIC_TELEMETRY
-    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_UAVCAN, airspeed_uavcan_downlink);
+    register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_AIRSPEED_RAW, airspeed_uavcan_downlink);
   #endif
 }