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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/modules/mavlink/CMakeLists.txt
-1
View File
@@ -101,7 +101,6 @@ px4_add_module(
airspeed
component_general_json # for checksums.h
drivers_accelerometer
drivers_barometer
drivers_gyroscope
drivers_magnetometer
conversion
src/modules/mavlink/mavlink_receiver.cpp
+9 -10
View File
@@ -73,7 +73,6 @@ MavlinkReceiver::~MavlinkReceiver()
{
delete _tune_publisher;
delete _px4_accel;
delete _px4_baro;
delete _px4_gyro;
delete _px4_mag;
#if !defined(CONSTRAINED_FLASH)
@@ -2309,15 +2308,15 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
// baro
if ((hil_sensor.fields_updated & SensorSource::BARO) == SensorSource::BARO) {
if (_px4_baro == nullptr) {
// 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
_px4_baro = new PX4Barometer(6620172);
}
if (_px4_baro != nullptr) {
_px4_baro->set_temperature(hil_sensor.temperature);
_px4_baro->update(timestamp, hil_sensor.abs_pressure);
}
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp;
sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
sensor_baro.pressure = hil_sensor.abs_pressure;
sensor_baro.temperature = hil_sensor.temperature;
sensor_baro.error_count = 0;
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
}
// differential pressure
src/modules/mavlink/mavlink_receiver.h
+5 -5
View File
@@ -51,7 +51,6 @@
#include <geo/geo.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 <lib/systemlib/mavlink_log.h>
@@ -92,6 +91,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/radio_status.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/transponder_report.h>
@@ -290,7 +290,7 @@ private:
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)};
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
uORB::Publication<cellular_status_s> _cellular_status_pub{ORB_ID(cellular_status)};
uORB::Publication<collision_report_s> _collision_report_pub{ORB_ID(collision_report)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
@@ -308,7 +308,6 @@ private:
uORB::Publication<onboard_computer_status_s> _onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
uORB::Publication<generator_status_s> _generator_status_pub{ORB_ID(generator_status)};
uORB::Publication<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _mc_virtual_att_sp_pub{ORB_ID(mc_virtual_attitude_setpoint)};
@@ -333,9 +332,11 @@ private:
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping)};
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status)};
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
// ORB publications (queue length > 1)
uORB::Publication<gps_inject_data_s> _gps_inject_data_pub{ORB_ID(gps_inject_data)};
@@ -364,7 +365,6 @@ private:
DIFF_PRESS = 0b10000000000
};
PX4Accelerometer *_px4_accel{nullptr};
PX4Barometer *_px4_baro{nullptr};
PX4Gyroscope *_px4_gyro{nullptr};
PX4Magnetometer *_px4_mag{nullptr};