simulator move to PX4Accelerometer, PX4Gyroscope, PX4Magnetometer, PX4Barometer helpers (#12081)

src/lib/drivers/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(accelerometer)
 add_subdirectory(airspeed)
+add_subdirectory(barometer)
 add_subdirectory(device)
 add_subdirectory(gyroscope)
 add_subdirectory(led)

src/lib/drivers/accelerometer/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 px4_add_library(drivers_accelerometer PX4Accelerometer.cpp)
+target_link_libraries(drivers_accelerometer PRIVATE drivers__device)

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -98,6 +98,12 @@ void PX4Accelerometer::set_device_type(uint8_t devtype)
 	_sensor_accel_pub.get().device_id = device_id.devid;
 }
 
+void PX4Accelerometer::set_sample_rate(unsigned rate)
+{
+	_sample_rate = rate;
+	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
+}
+
 void PX4Accelerometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
 {
 	sensor_accel_s &report = _sensor_accel_pub.get();

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -47,7 +47,7 @@ class PX4Accelerometer : public cdev::CDev, public ModuleParams
 {
 
 public:
-	PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
+	PX4Accelerometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
 	~PX4Accelerometer() override;
 
 	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
@@ -57,9 +57,7 @@ public:
 	void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; }
 	void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; }
 
-	void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); }
-
-	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+	void set_sample_rate(unsigned rate);
 
 	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
 
@@ -67,6 +65,8 @@ public:
 
 private:
 
+	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+
 	uORB::Publication<sensor_accel_s>	_sensor_accel_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
@@ -79,7 +79,7 @@ private:
 
 	int			_class_device_instance{-1};
 
-	unsigned	_sample_rate{1000};
+	unsigned		_sample_rate{1000};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _param_imu_accel_cutoff

src/lib/drivers/device/Device.hpp

@@ -130,6 +130,7 @@ public:
 		DeviceBusType_I2C     = 1,
 		DeviceBusType_SPI     = 2,
 		DeviceBusType_UAVCAN  = 3,
+		DeviceBusType_SIMULATION = 4,
 	};
 
 	/**
@@ -160,6 +161,9 @@ public:
 		case DeviceBusType_UAVCAN:
 			return "UAVCAN";
 
+		case DeviceBusType_SIMULATION:
+			return "SIMULATION";
+
 		case DeviceBusType_UNKNOWN:
 		default:
 			return "UNKNOWN";

src/lib/drivers/gyroscope/CMakeLists.txt

@@ -32,3 +32,4 @@
 ############################################################################
 
 px4_add_library(drivers_gyroscope PX4Gyroscope.cpp)
+target_link_libraries(drivers_gyroscope PRIVATE drivers__device)

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -98,6 +98,12 @@ void PX4Gyroscope::set_device_type(uint8_t devtype)
 	_sensor_gyro_pub.get().device_id = device_id.devid;
 }
 
+void PX4Gyroscope::set_sample_rate(unsigned rate)
+{
+	_sample_rate = rate;
+	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
+}
+
 void PX4Gyroscope::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
 {
 	sensor_gyro_s &report = _sensor_gyro_pub.get();

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -47,7 +47,7 @@ class PX4Gyroscope : public cdev::CDev, public ModuleParams
 {
 
 public:
-	PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation);
+	PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
 	~PX4Gyroscope() override;
 
 	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
@@ -57,9 +57,7 @@ public:
 	void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; }
 	void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; }
 
-	void set_sample_rate(unsigned rate) { _sample_rate = rate; _filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq()); }
-
-	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+	void set_sample_rate(unsigned rate);
 
 	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
 
@@ -67,6 +65,8 @@ public:
 
 private:
 
+	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
+
 	uORB::Publication<sensor_gyro_s>	_sensor_gyro_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
@@ -79,7 +79,7 @@ private:
 
 	int			_class_device_instance{-1};
 
-	unsigned	_sample_rate{1000};
+	unsigned		_sample_rate{1000};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff