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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
2022-03-04 09:51:02 -05:00
parent 5800c417c8
commit 0c31f63896
91 changed files with 1287 additions and 511 deletions
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src/modules/commander/Commander.cpp
+9 -3
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@@ -231,6 +231,10 @@ int Commander::custom_command(int argc, char *argv[])
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.0, 0.0, 0.f);
}
} else if (!strcmp(argv[1], "baro")) {
// baro calibration: param3 = 1
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 1.f, 0.f, 0.0, 0.0, 0.f);
} else if (!strcmp(argv[1], "accel")) {
if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
// accelerometer quick calibration: param5 = 3
@@ -1392,8 +1396,10 @@ Commander::handle_command(const vehicle_command_s &cmd)
_worker_thread.startTask(WorkerThread::Request::MagCalibration);
} else if ((int)(cmd.param3) == 1) {
/* zero-altitude pressure calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
/* baro calibration */
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
_status_flags.calibration_enabled = true;
_worker_thread.startTask(WorkerThread::Request::BaroCalibration);
} else if ((int)(cmd.param4) == 1) {
/* RC calibration */
@@ -4421,7 +4427,7 @@ The commander module contains the state machine for mode switching and failsafe
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
#ifndef CONSTRAINED_FLASH
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_ARG("mag|baro|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_ARG("quick", "Quick calibration (accel only, not recommended)", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");