Allow negative differential pressure if parameter enabled (#24434)

src/modules/commander/airspeed_calibration.cpp

@@ -168,7 +168,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 					/* do not allow negative values */
 					calibration_log_critical(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)",
 								 (int)differential_pressure_pa);
-					calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
+					calibration_log_critical(mavlink_log_pub, "[cal] Swap static and dynamic ports or set SENS_DPRES_REV");
 
 					/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
 					diff_pres_offset = 0.0f;

src/modules/sensors/sensor_params.c

@@ -87,6 +87,18 @@ PARAM_DEFINE_FLOAT(CAL_AIR_TUBED_MM, 1.5f);
  */
 PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f);
 
+/**
+ * Reverse differential pressure sensor readings
+ *
+ * Reverse the raw measurements of all differential pressure sensors.
+ * This can be enabled if the sensors have static and dynamic ports swapped.
+ *
+ * @category system
+ * @group Sensor Calibration
+ * @boolean
+ */
+PARAM_DEFINE_INT32(SENS_DPRES_REV, 0);
+
 /**
  * Differential pressure sensor analog scaling
  *