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/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -100,7 +100,6 @@ ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio), // TODO: DRDY disabled
 	_px4_accel(get_device_id(), config.rotation),
-	_px4_baro(get_device_id()),
 	_px4_gyro(get_device_id(), config.rotation),
 	_px4_mag(get_device_id(), config.rotation)
 {
@@ -445,11 +444,18 @@ void ADIS16448::RunImpl()
 						const int16_t mag_z = (buffer.ZMAGN_OUT == INT16_MIN) ? INT16_MAX : -buffer.ZMAGN_OUT;
 						_px4_mag.update(timestamp_sample, mag_x, mag_y, mag_z);
 
-						_px4_baro.set_error_count(error_count);
-						_px4_baro.set_temperature(temperature);
 
 						float pressure_pa = buffer.BARO_OUT * 0.02f; // 20 μbar per LSB
-						_px4_baro.update(timestamp_sample, pressure_pa);
+
+						// publish baro
+						sensor_baro_s sensor_baro{};
+						sensor_baro.timestamp_sample = timestamp_sample;
+						sensor_baro.device_id = get_device_id();
+						sensor_baro.pressure = pressure_pa;
+						sensor_baro.temperature = temperature;
+						sensor_baro.error_count = error_count;
+						sensor_baro.timestamp = hrt_absolute_time();
+						_sensor_baro_pub.publish(sensor_baro);
 					}
 
 					success = true;

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -45,9 +45,10 @@
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/spi.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
@@ -98,10 +99,11 @@ private:
 	const spi_drdy_gpio_t _drdy_gpio;
 
 	PX4Accelerometer _px4_accel;
-	PX4Barometer _px4_baro;
 	PX4Gyroscope _px4_gyro;
 	PX4Magnetometer _px4_mag;
 
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	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")};

src/drivers/imu/analog_devices/adis16448/CMakeLists.txt

@@ -44,7 +44,6 @@ px4_add_module(
 		Analog_Devices_ADIS16448_registers.hpp
 	DEPENDS
 		drivers_accelerometer
-		drivers_barometer
 		drivers_gyroscope
 		drivers_magnetometer
 		px4_work_queue