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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/lib/drivers/CMakeLists.txt
-1
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@@ -33,7 +33,6 @@
add_subdirectory(accelerometer)
add_subdirectory(airspeed)
add_subdirectory(barometer)
add_subdirectory(device)
add_subdirectory(gyroscope)
add_subdirectory(led)
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
-1
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@@ -53,7 +53,6 @@ public:
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; }
void increase_error_count() { _error_count++; }
void set_range(float range) { _range = range; UpdateClipLimit(); }
void set_scale(float scale);
void set_temperature(float temperature) { _temperature = temperature; }
src/lib/drivers/barometer/CMakeLists.txt
-34
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@@ -1,34 +0,0 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_library(drivers_barometer PX4Barometer.cpp)
src/lib/drivers/barometer/PX4Barometer.cpp
-70
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@@ -1,70 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "PX4Barometer.hpp"
#include <lib/drivers/device/Device.hpp>
PX4Barometer::PX4Barometer(uint32_t device_id)
{
_sensor_baro_pub.get().device_id = device_id;
}
PX4Barometer::~PX4Barometer()
{
_sensor_baro_pub.unadvertise();
}
void PX4Barometer::set_device_type(uint8_t devtype)
{
// current DeviceStructure
union device::Device::DeviceId device_id;
device_id.devid = _sensor_baro_pub.get().device_id;
// update to new device type
device_id.devid_s.devtype = devtype;
// copy back to report
_sensor_baro_pub.get().device_id = device_id.devid;
}
void PX4Barometer::update(const hrt_abstime &timestamp_sample, float pressure)
{
sensor_baro_s &report = _sensor_baro_pub.get();
report.timestamp_sample = timestamp_sample;
report.pressure = pressure;
report.timestamp = hrt_absolute_time();
_sensor_baro_pub.update();
}
src/lib/drivers/barometer/PX4Barometer.hpp
-62
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@@ -1,62 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>
class PX4Barometer
{
public:
PX4Barometer(uint32_t device_id);
~PX4Barometer();
const sensor_baro_s &get() { return _sensor_baro_pub.get(); }
void set_device_type(uint8_t devtype);
void set_error_count(uint64_t error_count) { _sensor_baro_pub.get().error_count = error_count; }
void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; }
void update(const hrt_abstime &timestamp_sample, float pressure);
int get_instance() { return _sensor_baro_pub.get_instance(); };
private:
uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
};
src/lib/drivers/gyroscope/PX4Gyroscope.hpp
-1
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@@ -53,7 +53,6 @@ public:
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; }
void increase_error_count() { _error_count++; }
void set_range(float range) { _range = range; }
void set_scale(float scale);
void set_temperature(float temperature) { _temperature = temperature; }
src/lib/drivers/magnetometer/PX4Magnetometer.hpp
-1
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@@ -47,7 +47,6 @@ public:
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; }
void increase_error_count() { _error_count++; }
void set_scale(float scale) { _scale = scale; }
void set_temperature(float temperature) { _temperature = temperature; }