sensors: add CONFIG_SENSORS_VEHICLE_AIRSPEED for airspeed/differential pressure

- disable CONFIG_SENSORS_VEHICLE_AIRSPEED on boards only used for multicopter

boards/ark/can-flow/default.px4board

@@ -13,6 +13,7 @@ CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
 # CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
@@ -21,4 +22,5 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-gps/default.px4board

@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/ark/can-rtk-gps/default.px4board

@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,13 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/bitcraze/crazyflie/default.px4board

@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y

boards/bitcraze/crazyflie21/default.px4board

@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y

boards/holybro/kakutef7/default.px4board

@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y

boards/holybro/kakuteh7/default.px4board

@@ -15,10 +15,10 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -28,8 +28,8 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -60,12 +61,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/omnibus/f4sd/default.px4board

@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/spracing/h7extreme/default.px4board

@@ -41,6 +41,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

src/modules/sensors/CMakeLists.txt

@@ -61,7 +61,6 @@ px4_add_module(
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
-		airspeed
 		conversion
 		data_validator
 		mathlib
@@ -71,6 +70,10 @@ px4_add_module(
 		vehicle_imu
 	)
 
+if(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+	target_link_libraries(modules__sensors PRIVATE airspeed)
+endif()
+
 if(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 	target_link_libraries(modules__sensors PRIVATE vehicle_air_data)
 endif()

src/modules/sensors/Kconfig

@@ -12,6 +12,10 @@ menuconfig USER_SENSORS
 		Put sensors in userspace memory
 
 if MODULES_SENSORS
+    config SENSORS_VEHICLE_AIRSPEED
+        bool "Include vehicle airspeed"
+        default y
+
     config SENSORS_VEHICLE_AIR_DATA
         bool "Include vehicle air data"
         default y

src/modules/sensors/sensors.cpp

@@ -41,10 +41,7 @@
  * @author Beat Küng <beat-kueng@gmx.net>
  */
 
-#include <drivers/drv_adc.h>
 #include <drivers/drv_hrt.h>
-#include <drivers/drv_sensor.h>
-#include <lib/airspeed/airspeed.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
@@ -62,23 +59,27 @@
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
-#include <uORB/topics/airspeed.h>
-#include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensors_status_imu.h>
-#include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_imu.h>
 
 #include "voted_sensors_update.h"
 #include "vehicle_acceleration/VehicleAcceleration.hpp"
 #include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
-
-
 #include "vehicle_imu/VehicleIMU.hpp"
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+# include <drivers/drv_sensor.h>
+# include <drivers/drv_adc.h>
+# include <lib/airspeed/airspeed.h>
+# include <uORB/topics/airspeed.h>
+# include <uORB/topics/differential_pressure.h>
+# include <uORB/topics/vehicle_air_data.h>
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+
 #if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+# include <uORB/topics/sensor_baro.h>
 # include "vehicle_air_data/VehicleAirData.hpp"
 #endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
 
@@ -140,16 +141,18 @@ private:
 	};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
-	uORB::Subscription _diff_pres_sub{ORB_ID(differential_pressure)};
 	uORB::Subscription _vcontrol_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
 
-	uORB::Publication<airspeed_s>             _airspeed_pub{ORB_ID(airspeed)};
 	uORB::Publication<sensor_combined_s>      _sensor_pub{ORB_ID(sensor_combined)};
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+	uORB::Subscription _diff_pres_sub {ORB_ID(differential_pressure)};
+	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
+
+	uORB::Publication<airspeed_s>             _airspeed_pub{ORB_ID(airspeed)};
+
 	DataValidator	_airspeed_validator;		/**< data validator to monitor airspeed */
 
 	uint64_t _airspeed_last_publish{0};
@@ -162,8 +165,7 @@ private:
 # ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
 	uORB::Subscription _adc_report_sub {ORB_ID(adc_report)};
 	uORB::PublicationMulti<differential_pressure_s> _diff_pres_pub{ORB_ID(differential_pressure)};
-#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
+# endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
-
 
 	struct Parameters {
 		float diff_pres_offset_pa;
@@ -186,6 +188,7 @@ private:
 		param_t air_tube_length;
 		param_t air_tube_diameter_mm;
 	} _parameter_handles{};		/**< handles for interesting parameters */
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
 
 	VotedSensorsUpdate _voted_sensors_update;
 
@@ -217,6 +220,7 @@ private:
 	 */
 	int		parameters_update();
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	/**
 	 * Poll the differential pressure sensor for updated data.
 	 *
@@ -225,11 +229,6 @@ private:
 	 */
 	void		diff_pres_poll();
 
-	/**
-	 * Check for changes in parameters.
-	 */
-	void 		parameter_update_poll(bool forced = false);
-
 	/**
 	 * Poll the ADC and update readings to suit.
 	 *
@@ -237,6 +236,7 @@ private:
 	 *				data should be returned.
 	 */
 	void		adc_poll();
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
 
 	void		InitializeVehicleAirData();
 	void		InitializeVehicleGPSPosition();
@@ -244,9 +244,15 @@ private:
 	void		InitializeVehicleMagnetometer();
 
 	DEFINE_PARAMETERS(
+#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 		(ParamBool<px4::params::SYS_HAS_BARO>) _param_sys_has_baro,
+#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
 		(ParamBool<px4::params::SYS_HAS_GPS>) _param_sys_has_gps,
+#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
 		(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag,
+#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
 		(ParamBool<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode
 	)
 };
@@ -263,6 +269,7 @@ Sensors::Sensors(bool hil_enabled) :
 	_vehicle_angular_velocity.Start();
 	_vehicle_acceleration.Start();
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	/* Differential pressure offset */
 	_parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
 #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
@@ -273,6 +280,10 @@ Sensors::Sensors(bool hil_enabled) :
 	_parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
 	_parameter_handles.air_tube_diameter_mm = param_find("CAL_AIR_TUBED_MM");
 
+	_airspeed_validator.set_timeout(300000);
+	_airspeed_validator.set_equal_value_threshold(100);
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+
 	param_find("SYS_FAC_CAL_MODE");
 
 	// Parameters controlling the on-board sensor thermal calibrator
@@ -282,9 +293,6 @@ Sensors::Sensors(bool hil_enabled) :
 
 	_sensor_combined.accelerometer_timestamp_relative = sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
 
-	_airspeed_validator.set_timeout(300000);
-	_airspeed_validator.set_equal_value_threshold(100);
-
 	parameters_update();
 
 	InitializeVehicleIMU();
@@ -350,6 +358,7 @@ int Sensors::parameters_update()
 		return 0;
 	}
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	/* Airspeed offset */
 	param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
 #ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
@@ -359,6 +368,7 @@ int Sensors::parameters_update()
 	param_get(_parameter_handles.air_cmodel, &_parameters.air_cmodel);
 	param_get(_parameter_handles.air_tube_length, &_parameters.air_tube_length);
 	param_get(_parameter_handles.air_tube_diameter_mm, &_parameters.air_tube_diameter_mm);
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
 
 	_voted_sensors_update.parametersUpdate();
 
@@ -438,6 +448,7 @@ int Sensors::parameters_update()
 	return PX4_OK;
 }
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 void Sensors::diff_pres_poll()
 {
 	differential_pressure_s diff_pres{};
@@ -545,21 +556,6 @@ void Sensors::diff_pres_poll()
 	}
 }
 
-void
-Sensors::parameter_update_poll(bool forced)
-{
-	// check for parameter updates
-	if (_parameter_update_sub.updated() || forced) {
-		// clear update
-		parameter_update_s pupdate;
-		_parameter_update_sub.copy(&pupdate);
-
-		// update parameters from storage
-		parameters_update();
-		updateParams();
-	}
-}
-
 void Sensors::adc_poll()
 {
 	/* only read if not in HIL mode */
@@ -608,8 +604,9 @@ void Sensors::adc_poll()
 		}
 	}
 
-#endif /* ADC_AIRSPEED_VOLTAGE_CHANNEL */
+#endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
 }
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED)
 
 #if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
 void Sensors::InitializeVehicleAirData()
@@ -768,8 +765,16 @@ void Sensors::Run()
 		_last_config_update = hrt_absolute_time();
 
 	} else {
-		// check parameters for updates
+		// check for parameter updates
-		parameter_update_poll();
+		if (_parameter_update_sub.updated()) {
+			// clear update
+			parameter_update_s pupdate;
+			_parameter_update_sub.copy(&pupdate);
+
+			// update parameters from storage
+			parameters_update();
+			updateParams();
+		}
 	}
 
 	_voted_sensors_update.sensorsPoll(_sensor_combined);
@@ -781,10 +786,11 @@ void Sensors::Run()
 		_sensor_combined_prev_timestamp = _sensor_combined.timestamp;
 	}
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	// check analog airspeed
 	adc_poll();
-
 	diff_pres_poll();
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
 
 	// backup schedule as a watchdog timeout
 	ScheduleDelayed(10_ms);
@@ -865,9 +871,11 @@ int Sensors::print_status()
 
 #endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
 
+#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
 	PX4_INFO_RAW("\n");
 	PX4_INFO_RAW("Airspeed status:\n");
 	_airspeed_validator.print();
+#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
 
 	PX4_INFO_RAW("\n");
 	_vehicle_acceleration.PrintStatus();

src/modules/sensors/vehicle_air_data/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_library(vehicle_air_data
 )
 target_link_libraries(vehicle_air_data
 	PRIVATE
+		data_validator
 		px4_work_queue
 		sensor_calibration
 )

src/modules/sensors/vehicle_magnetometer/CMakeLists.txt

@@ -38,6 +38,7 @@ px4_add_library(vehicle_magnetometer
 
 target_link_libraries(vehicle_magnetometer
 	PRIVATE
+		data_validator
 		px4_work_queue
 		sensor_calibration
 )