From 4188b492fce1a289c3d0b37f24849dad810524f4 Mon Sep 17 00:00:00 2001
From: Andres <>
Date: Thu, 27 Mar 2014 16:59:48 +0100
Subject: [PATCH 1/2] OP-1273 added I2C warning alarm during calibration of
 zero point, and uncrustify

---
 flight/modules/Airspeed/baro_airspeed_ms4525do.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/flight/modules/Airspeed/baro_airspeed_ms4525do.c b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
index af6a6170c..eaaee6210 100644
--- a/flight/modules/Airspeed/baro_airspeed_ms4525do.c
+++ b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
@@ -87,7 +87,8 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
     case  0:   AlarmsClear(SYSTEMALARMS_ALARM_I2C);
         break;
     case -4:
-    case -5:   AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
+    case -5:
+    case -7:    AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
         break;
     case -1:
     case -2:
@@ -122,8 +123,7 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
         if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
             calibrationCount++;
             filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
-
-            return retVal;
+            return -7;
         } else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
             calibrationCount++;
             // update filter register
@@ -136,7 +136,7 @@ static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, Airs
                 AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
                 calibrationCount = 0;
             }
-            return retVal;
+            return -7;
         }
     }
 

From 7ec855af5fdda84402457ba7be085577f101725f Mon Sep 17 00:00:00 2001
From: Andres <>
Date: Fri, 28 Mar 2014 14:18:14 +0100
Subject: [PATCH 2/2] OP-1273 added and implemented Airpeed alarm for the
 PixHawk sensor

---
 flight/modules/Airspeed/airspeed.c            |   9 +-
 .../modules/Airspeed/baro_airspeed_ms4525do.c |   8 +-
 .../diagrams/default/system-health.svg        | 279 ++++++++++++------
 .../uavobjectdefinition/airspeedsettings.xml  |   2 +-
 shared/uavobjectdefinition/systemalarms.xml   |   1 +
 5 files changed, 205 insertions(+), 94 deletions(-)

diff --git a/flight/modules/Airspeed/airspeed.c b/flight/modules/Airspeed/airspeed.c
index 1df2438ed..b81d5ad5d 100644
--- a/flight/modules/Airspeed/airspeed.c
+++ b/flight/modules/Airspeed/airspeed.c
@@ -156,15 +156,15 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
         AirspeedSensorGet(&airspeedData);
 
         // if sensor type changed and the last sensor was
-        // either Eagletree or PixHawk, reset I2C alarms
+        // either Eagletree or PixHawk, reset Airspeed alarm
         if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
             switch (lastAirspeedSensorType) {
-            // Eagletree or PixHawk => Reset I2C alams
+            // Eagletree or PixHawk => Reset Airspeed alams
             case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
             case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
-                AlarmsDefault(SYSTEMALARMS_ALARM_I2C);
+                AlarmsDefault(SYSTEMALARMS_ALARM_AIRSPEED);
                 break;
-            // else do not reset I2C alarms
+            // else do not reset Airspeed alarm
             default: break;
             }
             lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
@@ -193,6 +193,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
         case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
             gps_airspeedGet(&airspeedData, &airspeedSettings);
             break;
+        case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
         default:
             airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
         }
diff --git a/flight/modules/Airspeed/baro_airspeed_ms4525do.c b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
index eaaee6210..5ca0469a8 100644
--- a/flight/modules/Airspeed/baro_airspeed_ms4525do.c
+++ b/flight/modules/Airspeed/baro_airspeed_ms4525do.c
@@ -71,7 +71,7 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
     int8_t retVal = PIOS_MS4525DO_Request();
 
     if (retVal != 0) {
-        AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
+        AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
         return;
     }
 
@@ -84,17 +84,17 @@ void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettin
     retVal = baro_airspeedReadMS4525DO(airspeedSensor, airspeedSettings);
 
     switch (retVal) {
-    case  0:   AlarmsClear(SYSTEMALARMS_ALARM_I2C);
+    case  0:   AlarmsClear(SYSTEMALARMS_ALARM_AIRSPEED);
         break;
     case -4:
     case -5:
-    case -7:    AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_WARNING);
+    case -7:    AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
         break;
     case -1:
     case -2:
     case -3:
     case -6:
-    default:    AlarmsSet(SYSTEMALARMS_ALARM_I2C, SYSTEMALARMS_ALARM_ERROR);
+    default:    AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
     }
 }
 
diff --git a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
index 10c6a9d53..914709810 100644
--- a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
+++ b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
@@ -14,8 +14,8 @@
    height="79.57505"
    id="svg3604"
    version="1.1"
-   inkscape:version="0.48.2 r9819"
-   sodipodi:docname="system-health.svg"
+   inkscape:version="0.48.4 r9939"
+   sodipodi:docname="system-health-mod.svg"
    inkscape:export-filename="C:\NoBackup\OpenPilot\mainboard-health.png"
    inkscape:export-xdpi="269.53"
    inkscape:export-ydpi="269.53"
@@ -27,16 +27,16 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="9.3551549"
-     inkscape:cx="42.866204"
-     inkscape:cy="35.940147"
-     inkscape:current-layer="g4794"
+     inkscape:zoom="10.554213"
+     inkscape:cx="47.1292"
+     inkscape:cy="39.787519"
+     inkscape:current-layer="svg3604"
      id="namedview3608"
      showgrid="false"
      inkscape:window-width="1920"
-     inkscape:window-height="1178"
-     inkscape:window-x="0"
-     inkscape:window-y="0"
+     inkscape:window-height="1025"
+     inkscape:window-x="-2"
+     inkscape:window-y="-3"
      inkscape:window-maximized="1"
      showguides="true"
      inkscape:guide-bbox="true">
@@ -656,39 +656,48 @@
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@@ -1609,7 +1698,7 @@
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@@ -1657,7 +1747,7 @@
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@@ -1685,7 +1775,7 @@
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diff --git a/shared/uavobjectdefinition/airspeedsettings.xml b/shared/uavobjectdefinition/airspeedsettings.xml
index ea09bba2d..fbfce3e91 100644
--- a/shared/uavobjectdefinition/airspeedsettings.xml
+++ b/shared/uavobjectdefinition/airspeedsettings.xml
@@ -4,7 +4,7 @@
         <field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
         <field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
         <field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
-        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation"  defaultvalue="DIYDronesMPXV7002"/>
+        <field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None"  defaultvalue="GroundSpeedBasedWindEstimation"/>
 	<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml
index d74ae5e02..f5b32abad 100644
--- a/shared/uavobjectdefinition/systemalarms.xml
+++ b/shared/uavobjectdefinition/systemalarms.xml
@@ -15,6 +15,7 @@
 			<elementname>Actuator</elementname>
 			<elementname>Attitude</elementname>
 			<elementname>Sensors</elementname>
+			<elementname>Airspeed</elementname>
 			<elementname>Stabilization</elementname>
 			<elementname>Guidance</elementname>
 			<elementname>PathPlan</elementname>