Airspeed: Base sensor model on device ID from sensor

src/modules/sensors/parameters.cpp

@@ -158,7 +158,6 @@ int initialize_parameter_handles(ParameterHandles &parameter_handles)
 	parameter_handles.vibe_thresh = param_find("ATT_VIBE_THRESH");
 
 	parameter_handles.air_pmodel = param_find("CAL_AIR_PMODEL");
-	parameter_handles.air_smodel = param_find("CAL_AIR_SMODEL");
 	parameter_handles.air_tube_length = param_find("CAL_AIR_TUBELEN");
 
 	// These are parameters for which QGroundControl always expects to be returned in a list request.
@@ -493,7 +492,6 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
 	param_get(parameter_handles.vibe_thresh, &parameters.vibration_warning_threshold);
 
 	param_get(parameter_handles.air_pmodel, &parameters.air_pmodel);
-	param_get(parameter_handles.air_smodel, &parameters.air_smodel);
 	param_get(parameter_handles.air_tube_length, &parameters.air_tube_length);
 
 	return ret;

src/modules/sensors/parameters.h

@@ -147,7 +147,6 @@ struct Parameters {
 	float vibration_warning_threshold;
 
 	int32_t air_pmodel;
-	int32_t air_smodel;
 	float air_tube_length;
 
 };
@@ -232,7 +231,6 @@ struct ParameterHandles {
 	param_t vibe_thresh; /**< vibration threshold */
 
 	param_t air_pmodel;
-	param_t air_smodel;
 	param_t air_tube_length;
 
 };

src/modules/sensors/sensor_params.c

@@ -823,16 +823,6 @@ PARAM_DEFINE_INT32(CAL_BARO_PRIME, 0);
  */
 PARAM_DEFINE_INT32(CAL_AIR_PMODEL, 0);
 
-/**
- * Airspeed sensor model
- *
- * @value 0 Membrane sensor
- * @value 1 Sensirion SDP3x
- *
- * @group Sensor Calibration
- */
-PARAM_DEFINE_INT32(CAL_AIR_SMODEL, 0);
-
 /**
  * Airspeed sensor tube length
  * @min 0.01

src/modules/sensors/sensors.cpp

@@ -324,10 +324,29 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
 
 		_airspeed.confidence = _airspeed_validator.confidence(hrt_absolute_time());
 
+		enum AIRSPEED_SENSOR_MODEL smodel;
+
+		switch ((_diff_pres.device_id >> 16) & 0xFF) {
+		case DRV_DIFF_PRESS_DEVTYPE_SDP31:
+
+		/* fallthrough */
+		case DRV_DIFF_PRESS_DEVTYPE_SDP32:
+
+		/* fallthrough */
+		case DRV_DIFF_PRESS_DEVTYPE_SDP33:
+			/* fallthrough */
+			smodel = AIRSPEED_SENSOR_MODEL_SDP3X;
+			break;
+
+		default:
+			smodel = AIRSPEED_SENSOR_MODEL_MEMBRANE;
+			break;
+		}
+
 		/* don't risk to feed negative airspeed into the system */
 		_airspeed.indicated_airspeed_m_s = math::max(0.0f,
 						   calc_indicated_airspeed_corrected((enum AIRSPEED_PITOT_MODEL)_parameters.air_pmodel,
-								   (enum AIRSPEED_SENSOR_MODEL)_parameters.air_smodel, _parameters.air_tube_length,
+								   smodel, _parameters.air_tube_length,
 								   _diff_pres.differential_pressure_filtered_pa, _voted_sensors_update.baro_pressure(),
 								   air_temperature_celsius));