sensors: add baro calibration and cleanup

- 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

src/modules/simulator/CMakeLists.txt

@@ -65,7 +65,6 @@ px4_add_module(
 		conversion
 		geo
 		drivers_accelerometer
-		drivers_barometer
 		drivers_gyroscope
 		drivers_magnetometer
 	)

src/modules/simulator/sensor_baro_sim/CMakeLists.txt

@@ -39,7 +39,6 @@ px4_add_module(
 		SensorBaroSim.cpp
 		SensorBaroSim.hpp
 	DEPENDS
-		drivers_barometer
 		geo
 		px4_work_queue
 	)

src/modules/simulator/sensor_baro_sim/SensorBaroSim.cpp

@@ -161,8 +161,15 @@ void SensorBaroSim::Run()
 			// calculate temperature in Celsius
 			float temperature = temperature_local - 273.0f + _sim_baro_off_t.get();
 
-			_px4_baro.set_temperature(temperature);
-			_px4_baro.update(gpos.timestamp, pressure);
+			// publish
+			sensor_baro_s sensor_baro{};
+			sensor_baro.timestamp_sample = gpos.timestamp;
+			sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
+			sensor_baro.pressure = pressure;
+			sensor_baro.temperature = temperature;
+			sensor_baro.timestamp = hrt_absolute_time();
+			_sensor_baro_pub.publish(sensor_baro);
+
 
 			_last_update_time = gpos.timestamp;
 		}

src/modules/simulator/sensor_baro_sim/SensorBaroSim.hpp

@@ -33,16 +33,17 @@
 
 #pragma once
 
-#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/vehicle_global_position.h>
 
 using namespace time_literals;
@@ -80,12 +81,12 @@ private:
 
 	hrt_abstime _last_update_time{0};
 
-	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)};
 
 	perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_p,
-		(ParamFloat<px4::params::SIM_BARO_OFF_P>) _sim_baro_off_t
+		(ParamFloat<px4::params::SIM_BARO_OFF_T>) _sim_baro_off_t
 	)
 };

src/modules/simulator/sensor_baro_sim/parameters.c

@@ -42,5 +42,6 @@ PARAM_DEFINE_FLOAT(SIM_BARO_OFF_P, 0.0f);
  * simulated barometer temperature offset
  *
  * @group Simulator
+ * @unit celcius
  */
 PARAM_DEFINE_FLOAT(SIM_BARO_OFF_T, 0.0f);

src/modules/simulator/simulator.h

@@ -44,7 +44,6 @@
 
 #include <drivers/drv_hrt.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/geo/geo.h>
@@ -64,6 +63,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/parameter_update.h>
+#include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -179,8 +179,7 @@ private:
 	PX4Magnetometer		_px4_mag_0{197388, ROTATION_NONE}; // 197388: DRV_MAG_DEVTYPE_MAGSIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
 	PX4Magnetometer		_px4_mag_1{197644, ROTATION_NONE}; // 197644: DRV_MAG_DEVTYPE_MAGSIM, BUS: 2, ADDR: 1, TYPE: SIMULATION
 
-	PX4Barometer		_px4_baro_0{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
-	PX4Barometer		_px4_baro_1{6620428}; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pubs[2] {{ORB_ID(sensor_baro)}, {ORB_ID(sensor_baro)}};
 
 	float _sensors_temperature{0};
 
@@ -291,6 +290,9 @@ private:
 	float _last_magz{0.0f};
 	bool _use_dynamic_mixing{false};
 
+	float _last_baro_pressure{0.0f};
+	float _last_baro_temperature{0.0f};
+
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	px4::atomic<bool> _has_initialized {false};
 #endif

src/modules/simulator/simulator_mavlink.cpp

@@ -326,18 +326,27 @@ void Simulator::update_sensors(const hrt_abstime &time, const mavlink_hil_sensor
 
 	// baro
 	if ((sensors.fields_updated & SensorSource::BARO) == SensorSource::BARO && !_baro_blocked) {
-		if (_baro_stuck) {
-			_px4_baro_0.update(time, _px4_baro_0.get().pressure);
-			_px4_baro_0.set_temperature(_px4_baro_0.get().temperature);
-			_px4_baro_1.update(time, _px4_baro_1.get().pressure);
-			_px4_baro_1.set_temperature(_px4_baro_1.get().temperature);
 
-		} else {
-			_px4_baro_0.update(time, sensors.abs_pressure);
-			_px4_baro_0.set_temperature(sensors.temperature);
-			_px4_baro_1.update(time, sensors.abs_pressure);
-			_px4_baro_1.set_temperature(sensors.temperature);
+		if (!_baro_stuck) {
+			_last_baro_pressure = sensors.abs_pressure;
+			_last_baro_temperature = sensors.temperature;
 		}
+
+		// publish
+		sensor_baro_s sensor_baro{};
+		sensor_baro.timestamp_sample = time;
+		sensor_baro.pressure = _last_baro_pressure;
+		sensor_baro.temperature = _last_baro_temperature;
+
+		// publish 1st baro
+		sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
+		sensor_baro.timestamp = hrt_absolute_time();
+		_sensor_baro_pubs[0].publish(sensor_baro);
+
+		// publish 2nd baro
+		sensor_baro.device_id = 6620428; // 6620428: DRV_BARO_DEVTYPE_BAROSIM, BUS: 2, ADDR: 4, TYPE: SIMULATION
+		sensor_baro.timestamp = hrt_absolute_time();
+		_sensor_baro_pubs[1].publish(sensor_baro);
 	}
 
 	// differential pressure