move baro and magnetometer data out of sensor_combined

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -47,6 +47,7 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	_sub_lidar(nullptr),
 	_sub_sonar(nullptr),
 	_sub_landing_target_pose(ORB_ID(landing_target_pose), 1000 / 40, 0, &getSubscriptions()),
+	_sub_airdata(ORB_ID(vehicle_air_data), 0, 0, &getSubscriptions()),
 
 	// publications
 	_pub_lpos(ORB_ID(vehicle_local_position), -1, &getPublications()),
@@ -247,17 +248,10 @@ void BlockLocalPositionEstimator::update()
 	bool paramsUpdated = _sub_param_update.updated();
 	_baroUpdated = false;
 
-	if ((_fusion.get() & FUSE_BARO) && _sub_sensor.updated()) {
-		int32_t baro_timestamp_relative = _sub_sensor.get().baro_timestamp_relative;
-
-		if (baro_timestamp_relative != _sub_sensor.get().RELATIVE_TIMESTAMP_INVALID) {
-			uint64_t baro_timestamp = _sub_sensor.get().timestamp +	\
-						  _sub_sensor.get().baro_timestamp_relative;
-
-			if (baro_timestamp != _timeStampLastBaro) {
-				_baroUpdated = true;
-				_timeStampLastBaro = baro_timestamp;
-			}
+	if ((_fusion.get() & FUSE_BARO) && _sub_airdata.updated()) {
+		if (_sub_airdata.get().timestamp != _timeStampLastBaro) {
+			_baroUpdated = true;
+			_timeStampLastBaro = _sub_airdata.get().timestamp;
 		}
 	}
 
@@ -674,7 +668,6 @@ void BlockLocalPositionEstimator::publishGlobalPos()
 		_pub_gpos.get().yaw = _eul(2);
 		_pub_gpos.get().eph = eph;
 		_pub_gpos.get().epv = epv;
-		_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter;
 		_pub_gpos.get().terrain_alt = _altOrigin - xLP(X_tz);
 		_pub_gpos.get().terrain_alt_valid = _estimatorInitialized & EST_TZ;
 		_pub_gpos.get().dead_reckoning = !(_estimatorInitialized & EST_XY);

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -23,6 +23,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/att_pos_mocap.h>
 #include <uORB/topics/landing_target_pose.h>
+#include <uORB/topics/vehicle_air_data.h>
 
 // uORB Publications
 #include <uORB/Publication.hpp>
@@ -260,6 +261,7 @@ private:
 	uORB::Subscription<distance_sensor_s> *_sub_lidar;
 	uORB::Subscription<distance_sensor_s> *_sub_sonar;
 	uORB::Subscription<landing_target_pose_s> _sub_landing_target_pose;
+	uORB::Subscription<vehicle_air_data_s> _sub_airdata;
 
 	// publications
 	uORB::Publication<vehicle_local_position_s> _pub_lpos;

src/modules/local_position_estimator/sensors/baro.cpp

@@ -41,9 +41,9 @@ int BlockLocalPositionEstimator::baroMeasure(Vector<float, n_y_baro> &y)
 {
 	//measure
 	y.setZero();
-	y(0) = _sub_sensor.get().baro_alt_meter;
+	y(0) = _sub_airdata.get().baro_alt_meter;
 	_baroStats.update(y);
-	_time_last_baro = _timeStamp;
+	_time_last_baro = _sub_airdata.get().timestamp;
 	return OK;
 }