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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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/barometer/ms5837/CMakeLists.txt
-1
View File
@@ -41,6 +41,5 @@ px4_add_module(
MS5837.cpp
MS5837.hpp
DEPENDS
drivers_barometer
px4_work_queue
)
src/drivers/barometer/ms5837/MS5837.cpp
+11 -12
View File
@@ -41,7 +41,6 @@
MS5837::MS5837(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
_px4_barometer(get_device_id()),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
@@ -96,7 +95,7 @@ int MS5837::init()
break;
}
_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MS5837);
set_device_type(DRV_BARO_DEVTYPE_MS5837);
ret = OK;
@@ -259,8 +258,6 @@ int MS5837::_measure()
perf_count(_comms_errors);
}
_px4_barometer.set_error_count(perf_event_count(_comms_errors));
perf_end(_measure_perf);
return ret;
@@ -331,17 +328,22 @@ int MS5837::_collect()
_OFF -= OFF2;
_SENS -= SENS2;
float temperature = TEMP / 100.0f;
_px4_barometer.set_temperature(temperature);
_last_temperature = TEMP / 100.0f;
} else {
/* pressure calculation, result in Pa */
int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 13;
float pressure = P / 10.0f; /* convert to millibar */
_px4_barometer.update(timestamp_sample, pressure);
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp_sample;
sensor_baro.device_id = get_device_id();
sensor_baro.pressure = P;
sensor_baro.temperature = T;
sensor_baro.error_count = perf_event_count(_comms_errors);
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
}
/* update the measurement state machine */
@@ -357,9 +359,6 @@ void MS5837::print_status()
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("pressure: %f\n", (double)_px4_barometer.get().pressure);
printf("temperature: %f\n", (double)_px4_barometer.get().temperature);
}
int MS5837::_read_prom()
src/drivers/barometer/ms5837/MS5837.hpp
+5 -2
View File
@@ -35,7 +35,8 @@
#include <drivers/device/device.h>
#include <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>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -79,7 +80,7 @@ public:
private:
int probe() override;
PX4Barometer _px4_barometer;
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
ms5837::prom_u _prom{};
@@ -90,6 +91,8 @@ private:
int64_t _OFF{0};
int64_t _SENS{0};
float _last_temperature{NAN};
perf_counter_t _sample_perf;
perf_counter_t _measure_perf;
perf_counter_t _comms_errors;