[airspeed] reduce number of airspeed raw messages: ETS, MS45xx, SDP3x…

…, UAVCAN -> RAW
paparazzi · Sep 21, 2023 · ec77fdf · ec77fdf
1 parent b11dcf7
commit ec77fdf
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Showing 7 changed files with 36 additions and 11 deletions.
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -234,7 +234,11 @@ void airspeed_ets_read_event(void)
     stateSetAirspeed_f(airspeed_ets);
 #endif
 #if AIRSPEED_ETS_SYNC_SEND
-    DOWNLINK_SEND_AIRSPEED_ETS(DefaultChannel, DefaultDevice, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets);
+    uint8_t dev_id = AIRSPEED_ETS_ID;
+    float press = 0;
+    float temp = 0;
+    float airspeed = 0;
+    DOWNLINK_SEND_AIRSPEED_RAW(DefaultChannel, DefaultDevice, &dev_id, &airspeed_ets_raw, &airspeed_ets_offset, &airspeed_ets, &press, &temp, &airspeed);
 #endif
   } else {
     airspeed_ets = 0.0;

diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.c b/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_trans.raw_p = p_raw;
 
       /* 11bit raw temperature, 5 LSB bits not used */
       uint16_t temp_raw = 0xFFE0 & (((uint16_t)(ms45xx_trans.buf[2]) << 8) |

diff --git a/sw/airborne/modules/sensors/airspeed_ms45xx_i2c.h b/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 temperature
   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

diff --git a/sw/airborne/modules/sensors/airspeed_sdp3x.c b/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;
 

diff --git a/sw/airborne/modules/sensors/airspeed_sdp3x.h b/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
+  int16_t raw_p;              ///< raw value from chip
 };
 
 extern struct AirspeedSdp3x sdp3x;

diff --git a/sw/airborne/modules/sensors/airspeed_uavcan.c b/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) {

diff --git a/sw/ext/pprzlink b/sw/ext/pprzlink