move pressure altitude from baros to sensors module

src/modules/uavcan/sensors/baro.cpp

@@ -98,21 +98,6 @@ ssize_t UavcanBarometerBridge::read(struct file *filp, char *buffer, size_t bufl
 int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
-	case BAROIOCSMSLPRESSURE: {
-			if ((arg < 80000) || (arg > 120000)) {
-				return -EINVAL;
-
-			} else {
-				DEVICE_LOG("new msl pressure %u", _msl_pressure);
-				_msl_pressure = arg;
-				return OK;
-			}
-		}
-
-	case BAROIOCGMSLPRESSURE: {
-			return _msl_pressure;
-		}
-
 	case SENSORIOCSPOLLRATE: {
 			// not supported yet, pretend that everything is ok
 			return OK;
@@ -168,20 +153,6 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
 	/* TODO get device ID for sensor */
 	report.device_id = 0;
 
-	/*
-	 * Altitude computation
-	 * Refer to the MS5611 driver for details
-	 */
-	const double T1 = 15.0 + 273.15; // temperature at base height in Kelvin
-	const double a  = -6.5 / 1000;   // temperature gradient in degrees per metre
-	const double g  = 9.80665;       // gravity constant in m/s/s
-	const double R  = 287.05;        // ideal gas constant in J/kg/K
-
-	const double p1 = _msl_pressure / 1000.0;      // current pressure at MSL in kPa
-	const double p = double(msg.static_pressure) / 1000.0; // measured pressure in kPa
-
-	report.altitude = (((std::pow((p / p1), (-(a * R) / g))) * T1) - T1) / a;
-
 	// add to the ring buffer
 	_reports.force(&report);
 

src/modules/uavcan/sensors/baro.hpp

@@ -79,7 +79,6 @@ private:
 
 	ringbuffer::RingBuffer _reports;
 
-	unsigned _msl_pressure = 101325;
 	float last_temperature_kelvin = 0.0f;
 
 };