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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/simulator/sensor_baro_sim/CMakeLists.txt
-1
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@@ -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
+9 -2
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@@ -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
+4 -3
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@@ -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
+1
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@@ -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);