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Allow negative differential pressure if parameter enabled #24434

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Merged
merged 7 commits into from
Mar 24, 2025
Merged

Allow negative differential pressure if parameter enabled #24434

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b788d5c
Allow negative differential pressure if parameter enabled
AWheats Mar 2, 2025
29e9861
Fixed formatting for if and else statements
AWheats Mar 3, 2025
28872d7
Added a space to pass build check
AWheats Mar 3, 2025
c06b6a4
Redid commit with SENS_DPRES_INV because of merge issues
AWheats Mar 12, 2025
e3943a5
Amended to SENS_DPRES_REV following review. Kept reverse differential…
AWheats Mar 17, 2025
7950fdd
Removed diff_pres_rev from sensors.cpp and sensors.hpp
AWheats Mar 20, 2025
71a94f1
Apply suggestions from code review
bresch Mar 24, 2025
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10 changes: 10 additions & 0 deletions src/drivers/differential_pressure/asp5033/ASP5033.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@
*/

#include "ASP5033.hpp"
#include <parameters/param.h>

ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
I2C(config),
Expand Down Expand Up @@ -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;
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/auav/AUAV_Differential.cpp
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Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "AUAV_Differential.hpp"
#include <parameters/param.h>

AUAV_Differential::AUAV_Differential(const I2CSPIDriverConfig &config) :
AUAV(config)
Expand All @@ -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);
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/ets/ETSAirspeed.cpp
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Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "ETSAirspeed.hpp"
#include <parameters/param.h>

ETSAirspeed::ETSAirspeed(const I2CSPIDriverConfig &config) :
I2C(config),
Expand Down Expand Up @@ -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();
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/ms4515/MS4515.cpp
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Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "MS4515.hpp"
#include <parameters/param.h>

MS4515::MS4515(const I2CSPIDriverConfig &config) :
I2C(config),
Expand Down Expand Up @@ -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();
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/ms4525do/MS4525DO.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "MS4525DO.hpp"
#include <parameters/param.h>

using namespace time_literals;

Expand Down Expand Up @@ -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();
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/ms5525dso/MS5525DSO.cpp
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Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "MS5525DSO.hpp"
#include <parameters/param.h>

MS5525DSO::MS5525DSO(const I2CSPIDriverConfig &config) :
I2C(config),
Expand Down Expand Up @@ -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();
Expand Down
9 changes: 9 additions & 0 deletions src/drivers/differential_pressure/sdp3x/SDP3X.cpp
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Expand Up @@ -32,6 +32,7 @@
****************************************************************************/

#include "SDP3X.hpp"
#include <parameters/param.h>

using namespace time_literals;

Expand Down Expand Up @@ -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();
Expand Down
9 changes: 8 additions & 1 deletion src/drivers/uavcan/sensors/differential_pressure.cpp
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Expand Up @@ -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{};
Expand Down
2 changes: 1 addition & 1 deletion src/modules/commander/airspeed_calibration.cpp
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Expand Up @@ -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;
Expand Down
12 changes: 12 additions & 0 deletions src/modules/sensors/sensor_params.c
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Expand Up @@ -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
*
Expand Down
4 changes: 4 additions & 0 deletions src/modules/sensors/sensors.cpp
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Expand Up @@ -59,6 +59,10 @@ Sensors::Sensors(bool hil_enabled) :
#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
/* Differential pressure offset */
_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");

/* Differential pressure reverse*/
//Parameter handle here, parameter used in differential pressure sensor drivers
_parameter_handles.diff_pres_rev = param_find("SENS_DPRES_REV");
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
_parameter_handles.diff_pres_analog_scale = param_find("SENS_DPRES_ANSC");
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Expand Down
1 change: 1 addition & 0 deletions src/modules/sensors/sensors.hpp
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Expand Up @@ -209,6 +209,7 @@ class Sensors : public ModuleBase<Sensors>, public ModuleParams, public px4::Sch

struct ParameterHandles {
param_t diff_pres_offset_pa;
param_t diff_pres_rev;
#ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
param_t diff_pres_analog_scale;
#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
Expand Down
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