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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
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src/modules/mavlink/mavlink_receiver.cpp
+9 -10
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@@ -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