sensors: move baro aggregation to new sensors/vehicle_air_data

src/modules/uORB/Subscription.hpp

@@ -137,6 +137,7 @@ public:
 
 	uint8_t		get_instance() const { return _instance; }
 	orb_id_t	get_topic() const { return get_orb_meta(_orb_id); }
+	ORB_PRIO	get_priority() { return advertised() ? _node->get_priority() : ORB_PRIO_UNINITIALIZED; }
 
 protected:
 

src/modules/uORB/SubscriptionInterval.hpp

@@ -132,6 +132,7 @@ public:
 
 	uint8_t		get_instance() const { return _subscription.get_instance(); }
 	orb_id_t	get_topic() const { return _subscription.get_topic(); }
+	ORB_PRIO	get_priority() { return _subscription.get_priority(); }
 
 	/**
 	 * Set the interval in microseconds

src/modules/uORB/uORB.h

@@ -67,7 +67,8 @@ typedef const struct orb_metadata *orb_id_t;
  * Relevant for multi-topics / topic groups
  */
 enum ORB_PRIO {
-	ORB_PRIO_MIN = 1, // leave 0 free for other purposes, eg. marking an uninitialized value
+	ORB_PRIO_UNINITIALIZED = 0,
+	ORB_PRIO_MIN = 1,
 	ORB_PRIO_VERY_LOW = 25,
 	ORB_PRIO_LOW = 50,
 	ORB_PRIO_DEFAULT = 75,

src/modules/uORB/uORBDeviceMaster.cpp

@@ -142,7 +142,7 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertise
 				if (existing_node != nullptr &&
 				    (!existing_node->is_advertised() || is_single_instance_advertiser || !is_advertiser)) {
 					if (is_advertiser) {
-						existing_node->set_priority(priority);
+						existing_node->set_priority((ORB_PRIO)priority);
 						/* Set as advertised to avoid race conditions (otherwise 2 multi-instance advertisers
 						 * could get the same instance).
 						 */

src/modules/uORB/uORBDeviceNode.hpp

@@ -198,8 +198,8 @@ public:
 
 	uint8_t get_instance() const { return _instance; }
 
-	int get_priority() const { return _priority; }
-	void set_priority(uint8_t priority) { _priority = priority; }
+	ORB_PRIO get_priority() const { return (ORB_PRIO)_priority; }
+	void set_priority(ORB_PRIO priority) { _priority = priority; }
 
 	/**
 	 * Copies data and the corresponding generation