sensors: add baro calibration and cleanup

- 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

src/drivers/barometer/dps310/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		DPS310_SPI.cpp
 		dps310_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/dps310/DPS310.cpp

@@ -48,7 +48,6 @@ static void getTwosComplement(T &raw, uint8_t length)
 
 DPS310::DPS310(const I2CSPIDriverConfig &config, device::Device *interface) :
 	I2CSPIDriver(config),
-	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
@@ -233,9 +232,15 @@ DPS310::RunImpl()
 
 	const float Tcomp = c0 * 0.5f + c1 * Traw_sc;
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-	_px4_barometer.set_temperature(Tcomp);
-	_px4_barometer.update(timestamp_sample, Pcomp / 100.0f); // Pascals -> Millibar
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = Pcomp;
+	sensor_baro.temperature = Tcomp;
+	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/dps310/DPS310.hpp

@@ -40,7 +40,8 @@
 #pragma once
 
 #include <drivers/device/Device.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -79,7 +80,7 @@ private:
 
 	static constexpr uint32_t SAMPLE_RATE{32};
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	device::Device		*_interface;