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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/sih/CMakeLists.txt
-1
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@@ -43,7 +43,6 @@ px4_add_module(
DEPENDS
mathlib
drivers_accelerometer
drivers_barometer
drivers_gyroscope
drivers_magnetometer
px4_work_queue
src/modules/sih/sih.cpp
+10 -2
View File
@@ -152,8 +152,16 @@ void Sih::Run()
if (_now - _baro_time >= 50_ms
&& fabs(_baro_offset_m) < 10000) {
_baro_time = _now;
_px4_baro.set_temperature(_baro_temp_c);
_px4_baro.update(_now, _baro_p_mBar);
// publish
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = _now;
sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
sensor_baro.pressure = _baro_p_mBar * 100.f;
sensor_baro.temperature = _baro_temp_c;
sensor_baro.error_count = 0;
sensor_baro.timestamp = hrt_absolute_time();
_sensor_baro_pub.publish(sensor_baro);
}
// gps published at 20Hz
src/modules/sih/sih.hpp
+3 -2
View File
@@ -65,7 +65,6 @@
#include <lib/geo/geo.h> // to get the physical constants
#include <drivers/drv_hrt.h> // to get the real time
#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/perf/perf_counter.h>
@@ -75,6 +74,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/vehicle_angular_velocity.h> // to publish groundtruth
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
@@ -117,7 +117,8 @@ private:
PX4Accelerometer _px4_accel{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Gyroscope _px4_gyro{1310988}; // 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
PX4Magnetometer _px4_mag{197388}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
PX4Barometer _px4_baro{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
// to publish the gps position
sensor_gps_s _sensor_gps{};