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sensors: add baro calibration and cleanup

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- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
This commit is contained in:
Daniel Agar
2022-03-26 16:08:41 -04:00
parent 5800c417c8
commit 0c31f63896
91 changed files with 1287 additions and 511 deletions
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src/drivers/barometer/bmp388/CMakeLists.txt
-1
View File
@@ -40,6 +40,5 @@ px4_add_module(
bmp388.cpp
bmp388_main.cpp
DEPENDS
drivers_barometer
px4_work_queue
)
src/drivers/barometer/bmp388/bmp388.cpp
+9 -6
View File
@@ -43,7 +43,6 @@
BMP388::BMP388(const I2CSPIDriverConfig &config, IBMP388 *interface) :
I2CSPIDriver(config),
_px4_baro(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -165,14 +164,18 @@ BMP388::collect()
return -EIO;
}
_px4_baro.set_error_count(perf_event_count(_comms_errors));
float temperature = (float)(data.temperature / 100.0f);
float pressure = (float)(data.pressure / 100.0f); // to Pascal
pressure = pressure / 100.0f; // to mbar
_px4_baro.set_temperature(temperature);
_px4_baro.update(timestamp_sample, pressure);
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp_sample;
sensor_baro.device_id = _interface->get_device_id();
sensor_baro.pressure = pressure;
sensor_baro.temperature = temperature;
sensor_baro.error_count = perf_event_count(_comms_errors);
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
perf_end(_sample_perf);
src/drivers/barometer/bmp388/bmp388.h
+3 -2
View File
@@ -44,7 +44,8 @@
#include <perf/perf_counter.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>
#include "board_config.h"
@@ -325,7 +326,7 @@ private:
static constexpr uint8_t odr{BMP3_ODR_50_HZ}; // output data rate (not used)
static constexpr uint8_t iir_coef{BMP3_IIR_FILTER_DISABLE}; // IIR coefficient
PX4Barometer _px4_baro;
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
IBMP388 *_interface{nullptr};
unsigned _measure_interval{0}; // interval in microseconds needed to measure