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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/maiertek/mpc2520/CMakeLists.txt
-1
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@@ -41,6 +41,5 @@ px4_add_module(
MPC2520.cpp
MPC2520.hpp
DEPENDS
drivers_barometer
px4_work_queue
)
src/drivers/barometer/maiertek/mpc2520/MPC2520.cpp
+10 -6
View File
@@ -44,8 +44,7 @@ static constexpr int32_t combine(uint8_t h, uint8_t m, uint8_t l)
MPC2520::MPC2520(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_baro(get_device_id())
I2CSPIDriver(config)
{
//_debug_enabled = true;
}
@@ -232,7 +231,6 @@ void MPC2520::RunImpl()
static constexpr float kT = 7864320; // temperature 8 times oversampling
float Traw_sc = static_cast<float>(Traw) / kT;
float Tcomp = _prom.c0 * 0.5f + _prom.c1 * Traw_sc;
_px4_baro.set_temperature(Tcomp);
int32_t Praw = (int32_t)(buffer.PSR_B2 << 16) | (int32_t)(buffer.PSR_B1 << 8) | (int32_t)buffer.PSR_B1;
Praw = (Praw & 0x800000) ? (0xFF000000 | Praw) : Praw;
@@ -244,9 +242,15 @@ void MPC2520::RunImpl()
float Pcomp = _prom.c00 + Praw_sc * (_prom.c10 + Praw_sc * (_prom.c20 + Praw_sc * _prom.c30)) + Traw_sc * _prom.c01 +
Traw_sc * Praw_sc * (_prom.c11 + Praw_sc * _prom.c21);
float pressure_mbar = Pcomp / 100.0f; // convert to millibar
_px4_baro.update(now, pressure_mbar);
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = now;
sensor_baro.device_id = get_device_id();
sensor_baro.pressure = Pcomp;
sensor_baro.temperature = Tcomp;
sensor_baro.error_count = perf_event_count(_bad_transfer_perf) + perf_event_count(_bad_register_perf);
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
success = true;
src/drivers/barometer/maiertek/mpc2520/MPC2520.hpp
+3 -2
View File
@@ -37,7 +37,8 @@
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/i2c.h>
#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/i2c_spi_buses.h>
@@ -76,7 +77,7 @@ private:
void RegisterWrite(Register reg, uint8_t value);
void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
PX4Barometer _px4_baro;
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};