sensors: no temperature compensation in HITL

Temperature compensation is not supported in HITL. Therefore, don't try
and fail. This basically removes the confusing error message that we get
in HITL.

src/modules/sensors/sensors.cpp

@@ -95,6 +95,7 @@
 
 using namespace DriverFramework;
 using namespace sensors;
+using namespace time_literals;
 
 /**
  * Analog layout:
@@ -584,13 +585,11 @@ Sensors::run()
 	}
 
 	sensor_combined_s raw = {};
+	sensor_preflight_s preflt = {};
 	vehicle_air_data_s airdata = {};
 	vehicle_magnetometer_s magnetometer = {};
 
-	struct sensor_preflight_s preflt = {};
-
 	_rc_update.init();
-
 	_voted_sensors_update.init(raw);
 
 	/* (re)load params and calibration */
@@ -600,11 +599,8 @@ Sensors::run()
 	 * do subscriptions
 	 */
 	_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
-
 	_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
-
 	_actuator_ctrl_0_sub = orb_subscribe(ORB_ID(actuator_controls_0));
 
 	/* get a set of initial values */
@@ -614,18 +610,10 @@ Sensors::run()
 
 	_rc_update.rc_parameter_map_poll(_parameter_handles, true /* forced */);
 
-	/* advertise the sensor_preflight topic and make the initial publication */
-	preflt.accel_inconsistency_m_s_s = 0.0f;
-
-	preflt.gyro_inconsistency_rad_s = 0.0f;
-
-	preflt.mag_inconsistency_ga = 0.0f;
-
 	_sensor_preflight = orb_advertise(ORB_ID(sensor_preflight), &preflt);
 
 	/* wakeup source */
 	px4_pollfd_struct_t poll_fds = {};
-
 	poll_fds.events = POLLIN;
 
 	uint64_t last_config_update = hrt_absolute_time();
@@ -704,7 +692,7 @@ Sensors::run()
 		/* keep adding sensors as long as we are not armed,
 		 * when not adding sensors poll for param updates
 		 */
-		if (!_armed && hrt_elapsed_time(&last_config_update) > 500 * 1000) {
+		if (!_armed && hrt_elapsed_time(&last_config_update) > 500_ms) {
 			_voted_sensors_update.initialize_sensors();
 			last_config_update = hrt_absolute_time();
 
@@ -846,7 +834,7 @@ Sensors *Sensors::instantiate(int argc, char *argv[])
 		return nullptr;
 	}
 
-	return new Sensors(hil_enabled);;
+	return new Sensors(hil_enabled);
 }
 
 int sensors_main(int argc, char *argv[])

src/modules/sensors/temperature_compensation.cpp

@@ -151,7 +151,7 @@ int TemperatureCompensation::initialize_parameter_handles(ParameterHandles &para
 	return PX4_OK;
 }
 
-int TemperatureCompensation::parameters_update()
+int TemperatureCompensation::parameters_update(bool hil_enabled)
 {
 	int ret = 0;
 
@@ -163,7 +163,12 @@ int TemperatureCompensation::parameters_update()
 	}
 
 	/* rate gyro calibration parameters */
-	param_get(parameter_handles.gyro_tc_enable, &(_parameters.gyro_tc_enable));
+	if (!hil_enabled) {
+		param_get(parameter_handles.gyro_tc_enable, &_parameters.gyro_tc_enable);
+
+	} else {
+		_parameters.gyro_tc_enable = 0;
+	}
 
 	if (_parameters.gyro_tc_enable == 1) {
 		for (unsigned j = 0; j < GYRO_COUNT_MAX; j++) {
@@ -196,7 +201,12 @@ int TemperatureCompensation::parameters_update()
 	}
 
 	/* accelerometer calibration parameters */
-	param_get(parameter_handles.accel_tc_enable, &(_parameters.accel_tc_enable));
+	if (!hil_enabled) {
+		param_get(parameter_handles.accel_tc_enable, &_parameters.accel_tc_enable);
+
+	} else {
+		_parameters.accel_tc_enable = 0;
+	}
 
 	if (_parameters.accel_tc_enable == 1) {
 		for (unsigned j = 0; j < ACCEL_COUNT_MAX; j++) {
@@ -229,7 +239,12 @@ int TemperatureCompensation::parameters_update()
 	}
 
 	/* barometer calibration parameters */
-	param_get(parameter_handles.baro_tc_enable, &(_parameters.baro_tc_enable));
+	if (!hil_enabled) {
+		param_get(parameter_handles.baro_tc_enable, &_parameters.baro_tc_enable);
+
+	} else {
+		_parameters.baro_tc_enable = 0;
+	}
 
 	if (_parameters.baro_tc_enable == 1) {
 		for (unsigned j = 0; j < BARO_COUNT_MAX; j++) {

src/modules/sensors/temperature_compensation.h

@@ -68,7 +68,7 @@ class TemperatureCompensation
 public:
 
 	/** (re)load the parameters. Make sure to call this on startup as well */
-	int parameters_update();
+	int parameters_update(bool hil_enabled = false);
 
 	/** supply information which device_id matches a specific uORB topic_instance
 	 *  (needed if a system has multiple sensors of the same type)

src/modules/sensors/voted_sensors_update.cpp

@@ -148,7 +148,7 @@ void VotedSensorsUpdate::parameters_update()
 	 */
 
 	/* temperature compensation */
-	_temperature_compensation.parameters_update();
+	_temperature_compensation.parameters_update(_hil_enabled);
 
 	/* gyro */
 	for (int topic_instance = 0; topic_instance < GYRO_COUNT_MAX; ++topic_instance) {
@@ -602,11 +602,9 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw)
 			}
 
 			// handle temperature compensation
-			if (!_hil_enabled) {
+			if (_temperature_compensation.apply_corrections_accel(uorb_index, accel_data, accel_report.temperature,
-				if (_temperature_compensation.apply_corrections_accel(uorb_index, accel_data, accel_report.temperature,
+					offsets[uorb_index], scales[uorb_index]) == 2) {
-						offsets[uorb_index], scales[uorb_index]) == 2) {
+				_corrections_changed = true;
-					_corrections_changed = true;
-				}
 			}
 
 			// rotate corrected measurements from sensor to body frame
@@ -711,11 +709,9 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
 			}
 
 			// handle temperature compensation
-			if (!_hil_enabled) {
+			if (_temperature_compensation.apply_corrections_gyro(uorb_index, gyro_rate, gyro_report.temperature,
-				if (_temperature_compensation.apply_corrections_gyro(uorb_index, gyro_rate, gyro_report.temperature,
+					offsets[uorb_index], scales[uorb_index]) == 2) {
-						offsets[uorb_index], scales[uorb_index]) == 2) {
+				_corrections_changed = true;
-					_corrections_changed = true;
-				}
 			}
 
 			// rotate corrected measurements from sensor to body frame
@@ -829,11 +825,9 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata)
 			float corrected_pressure = 100.0f * baro_report.pressure;
 
 			// handle temperature compensation
-			if (!_hil_enabled) {
+			if (_temperature_compensation.apply_corrections_baro(uorb_index, corrected_pressure, baro_report.temperature,
-				if (_temperature_compensation.apply_corrections_baro(uorb_index, corrected_pressure, baro_report.temperature,
+					offsets[uorb_index], scales[uorb_index]) == 2) {
-						offsets[uorb_index], scales[uorb_index]) == 2) {
+				_corrections_changed = true;
-					_corrections_changed = true;
-				}
 			}
 
 			// First publication with data
@@ -1080,7 +1074,7 @@ void VotedSensorsUpdate::sensors_poll(sensor_combined_s &raw, vehicle_air_data_s
 	baro_poll(airdata);
 
 	// publish sensor corrections if necessary
-	if (!_hil_enabled && _corrections_changed) {
+	if (_corrections_changed) {
 		_corrections.timestamp = hrt_absolute_time();
 
 		if (_sensor_correction_pub == nullptr) {