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sensors: move baro aggregation to new sensors/vehicle_air_data

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This commit is contained in:
Daniel Agar
2020-03-12 19:06:34 -04:00
parent 093e9ba1ce
commit 0eca583ecf
25 changed files with 479 additions and 276 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.cpp
+1 -22
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@@ -221,11 +221,6 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
/* ---- BARO ---- */
if (checkSensors) {
//bool prime_found = false;
int32_t prime_id = -1;
param_get(param_find("CAL_BARO_PRIME"), &prime_id);
int32_t sys_has_baro = 1;
param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);
@@ -238,29 +233,13 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
int32_t device_id = -1;
if (baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if ((prime_id > 0) && (device_id == prime_id)) {
//prime_found = true;
}
} else {
if (!baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
if (required) {
failed = true;
baro_fail_reported = true;
}
}
}
// TODO there is no logic in place to calibrate the primary baro yet
// // check if the primary device is present
// if (false) {
// if (reportFailures && !failed) {
// mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
// }
// set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
// failed = true;
// }
}
/* ---- IMU CONSISTENCY ---- */
src/modules/commander/CMakeLists.txt
-1
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@@ -41,7 +41,6 @@ px4_add_module(
SRCS
accelerometer_calibration.cpp
airspeed_calibration.cpp
baro_calibration.cpp
calibration_routines.cpp
Commander.cpp
commander_helper.cpp
src/modules/commander/Commander.cpp
-1
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@@ -50,7 +50,6 @@
#include "Arming/HealthFlags/HealthFlags.h"
#include "accelerometer_calibration.h"
#include "airspeed_calibration.h"
#include "baro_calibration.h"
#include "calibration_routines.h"
#include "commander_helper.h"
#include "esc_calibration.h"
src/modules/commander/baro_calibration.cpp
-54
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@@ -1,54 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file baro_calibration.cpp
* Barometer calibration routine
*/
#include "baro_calibration.h"
#include <math.h>
#include <fcntl.h>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <drivers/drv_baro.h>
#include <systemlib/mavlink_log.h>
#include <parameters/param.h>
int do_baro_calibration(orb_advert_t *mavlink_log_pub)
{
// TODO implement this
return PX4_ERROR;
}
src/modules/commander/baro_calibration.h
-47
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@@ -1,47 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mag_calibration.h
* Barometer calibration routine
*/
#ifndef BARO_CALIBRATION_H_
#define BARO_CALIBRATION_H_
#include <stdint.h>
#include <uORB/uORB.h>
int do_baro_calibration(orb_advert_t *mavlink_log_pub);
#endif /* BARO_CALIBRATION_H_ */