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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/goertek/spl06/CMakeLists.txt
-1
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@@ -41,6 +41,5 @@ px4_add_module(
SPL06_SPI.cpp
spl06_main.cpp
DEPENDS
drivers_barometer
px4_work_queue
)
src/drivers/barometer/goertek/spl06/SPL06.cpp
+10 -5
View File
@@ -35,7 +35,6 @@
SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
I2CSPIDriver(config),
_px4_baro(interface->get_device_id()),
_interface(interface),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -224,10 +223,16 @@ SPL06::collect()
float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
_px4_baro.set_error_count(perf_event_count(_comms_errors));
_px4_baro.set_temperature(temperature);
_px4_baro.update(timestamp_sample, fp / 100.0f); // to millbar
//PX4_DEBUG("%d",(int)fp);
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp_sample;
sensor_baro.device_id = _interface->get_device_id();
sensor_baro.pressure = fp;
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);
return OK;
src/drivers/barometer/goertek/spl06/SPL06.hpp
+3 -2
View File
@@ -39,8 +39,9 @@
#include <px4_platform_common/px4_config.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 <lib/perf/perf_counter.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>
class SPL06 : public I2CSPIDriver<SPL06>
{
@@ -62,7 +63,7 @@ private:
int collect(); //get results and publish
int calibrate();
PX4Barometer _px4_baro;
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
spl06::ISPL06 *_interface;
spl06::data_s _data;