From d7ec1e7b0cc23451f73d59db0159cbaea374beb0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 8 Dec 2022 17:47:13 +1100
Subject: [PATCH] AP_Airspeed: add support for mavlink in-progress message

---
 libraries/AP_Airspeed/AP_Airspeed.cpp | 20 ++++++++++++++++++++
 libraries/AP_Airspeed/AP_Airspeed.h   | 13 ++++++++++++-
 2 files changed, 32 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
index 9ab842cf46..3460ecc8c6 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -523,6 +523,7 @@ void AP_Airspeed::calibrate(bool in_startup)
         state[i].cal.count = 0;
         state[i].cal.sum = 0;
         state[i].cal.read_count = 0;
+        calibration_state[i] = CalibrationState::IN_PROGRESS;
         GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Airspeed %u calibration started", i+1);
     }
 #endif // HAL_BUILD_AP_PERIPH
@@ -544,6 +545,7 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
         state[i].cal.read_count > 15) {
         if (state[i].cal.count == 0) {
             GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Airspeed %u unhealthy", i + 1);
+            calibration_state[i] = CalibrationState::FAILED;
         } else {
             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Airspeed %u calibrated", i + 1);
             float calibrated_offset = state[i].cal.sum / state[i].cal.count;
@@ -557,6 +559,7 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
                 }
             }
             param[i].offset.set_and_save(calibrated_offset);
+            calibration_state[i] = CalibrationState::SUCCESS;
         }
         state[i].cal.start_ms = 0;
         return;
@@ -570,6 +573,23 @@ void AP_Airspeed::update_calibration(uint8_t i, float raw_pressure)
 #endif // HAL_BUILD_AP_PERIPH
 }
 
+// get aggregate calibration state for the Airspeed library:
+AP_Airspeed::CalibrationState AP_Airspeed::get_calibration_state() const
+{
+    for (uint8_t i=0; i<AIRSPEED_MAX_SENSORS; i++) {
+        switch (calibration_state[i]) {
+        case CalibrationState::SUCCESS:
+        case CalibrationState::NOT_STARTED:
+            continue;
+        case CalibrationState::IN_PROGRESS:
+            return CalibrationState::IN_PROGRESS;
+        case CalibrationState::FAILED:
+            return CalibrationState::FAILED;
+        }
+    }
+    return CalibrationState::SUCCESS;
+}
+
 // read one airspeed sensor
 void AP_Airspeed::read(uint8_t i)
 {
diff --git a/libraries/AP_Airspeed/AP_Airspeed.h b/libraries/AP_Airspeed/AP_Airspeed.h
index b8e0237948..9e8f938918 100644
--- a/libraries/AP_Airspeed/AP_Airspeed.h
+++ b/libraries/AP_Airspeed/AP_Airspeed.h
@@ -201,7 +201,16 @@ public:
 #if AP_AIRSPEED_MSP_ENABLED
     void handle_msp(const MSP::msp_airspeed_data_message_t &pkt);
 #endif
-    
+
+    enum class CalibrationState {
+        NOT_STARTED,
+        IN_PROGRESS,
+        SUCCESS,
+        FAILED
+    };
+    // get aggregate calibration state for the Airspeed library:
+    CalibrationState get_calibration_state() const;
+
 private:
     static AP_Airspeed *_singleton;
 
@@ -217,6 +226,8 @@ private:
 
     AP_Airspeed_Params param[AIRSPEED_MAX_SENSORS];
 
+    CalibrationState calibration_state[AIRSPEED_MAX_SENSORS];
+
     struct airspeed_state {
         float   raw_airspeed;
         float   airspeed;