OP-1273 I2C Alarm reset to default when AirspeedSensorType is changed. Small cosmetic corrections

flight/modules/Airspeed/airspeed.c

@@ -60,7 +60,7 @@
 static xTaskHandle taskHandle;
 static bool airspeedEnabled  = false;
 static AirspeedSettingsData airspeedSettings;
-
+static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0;
 static int8_t airspeedADCPin = -1;
 
 
@@ -118,6 +118,8 @@ int32_t AirspeedInitialize()
             airspeedADCPin = i;
         }
     }
+    
+    lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
 
     AirspeedSensorInitialize();
     AirspeedSettingsInitialize();
@@ -153,6 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
         // Update the airspeed object
         AirspeedSensorGet(&airspeedData);
 
+        // if sensor type changed and the last sensor was 
+        // either Eagletree or PixHawk, reset I2C alarms
+        if(airspeedSettings.AirspeedSensorType != lastAirspeedSensorType){
+            switch (lastAirspeedSensorType) {
+                // Eagletree or PixHawk => Reset I2C alams
+                case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
+                case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
+                     AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
+                     break;
+                // else do not reset I2C alarms
+                default: break;
+            }
+            lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
+        }
+        
         switch (airspeedSettings.AirspeedSensorType) {
 #if defined(PIOS_INCLUDE_MPXV)
         case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:

flight/modules/Airspeed/baro_airspeed_ms4525do.c

@@ -44,9 +44,9 @@
 
 #if defined(PIOS_INCLUDE_MS4525DO)
 
-#define CALIBRATION_IDLE_MS  0   // Time to wait before calibrating, in [ms]
+#define CALIBRATION_IDLE_MS  0              // Time to wait before calibrating, in [ms]
-#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
+#define CALIBRATION_COUNT_MS 4000           // Time to spend calibrating, in [ms]
-#define FILTER_SHIFT 5              // Barry Dorr filter parameter k
+#define FILTER_SHIFT 5                      // Barry Dorr filter parameter k
 
 #define P0              101325.0f           // standard pressure
 #define CCEXPONENT      0.2857142857f       // exponent of compressibility correction 2/7
@@ -57,14 +57,13 @@
 
 // Private types
 
-// Private functions
+// Private functions definitions
 static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
 
 
 // Private variables
 static uint16_t calibrationCount  = 0;
-static uint32_t filter_reg;                 // Barry Dorr filter register
+static uint32_t filter_reg        = 0;      // Barry Dorr filter register
-
 
 void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
 {
@@ -99,6 +98,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
 }
 
 
+// Private functions
 static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
 {
     // Check to see if airspeed sensor is returning airspeedSensor

flight/modules/StateEstimation/stateestimation.c

@@ -74,6 +74,7 @@
             UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
         } \
     }
+    
 #define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, EXTRACHECK) \
     if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
         sensorname##Data s; \
@@ -85,6 +86,7 @@
             UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
         } \
     }
+    
 #define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
     if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
         sensorname##Data s; \
@@ -108,6 +110,7 @@
         s.a3 = states.shortname[2]; \
         statename##Set(&s); \
     }
+    
 #define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_2_DIMENSIONS(statename, shortname, a1, a2) \
     if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
         statename##Data s; \
@@ -117,8 +120,8 @@
         statename##Set(&s); \
     }
 
-// Private types
 
+// Private types
 struct filterPipelineStruct;
 
 typedef const struct filterPipelineStruct {
@@ -392,8 +395,6 @@ static void StateEstimationCb(void)
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
-//         FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
-//         states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
         
         // GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself