new library for atmosphere calculations

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/lib/CMakeLists.txt

@@ -33,6 +33,7 @@
 
 add_subdirectory(adsb EXCLUDE_FROM_ALL)
 add_subdirectory(airspeed EXCLUDE_FROM_ALL)
+add_subdirectory(atmosphere EXCLUDE_FROM_ALL)
 add_subdirectory(avoidance EXCLUDE_FROM_ALL)
 add_subdirectory(battery EXCLUDE_FROM_ALL)
 add_subdirectory(bezier EXCLUDE_FROM_ALL)

src/lib/airspeed/airspeed.cpp

@@ -44,6 +44,9 @@
 
 #include <px4_platform_common/defines.h>
 #include <lib/geo/geo.h>
+#include <lib/atmosphere/atmosphere.h>
+
+using atmosphere::getDensityFromPressureAndTemp;
 
 float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_SENSOR_MODEL smodel,
 			 float tube_len, float tube_dia_mm, float differential_pressure, float pressure_ambient, float temperature_celsius)
@@ -53,7 +56,7 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_
 	}
 
 	// air density in kg/m3
-	const float rho_air = get_air_density(pressure_ambient, temperature_celsius);
+	const float rho_air = getDensityFromPressureAndTemp(pressure_ambient, temperature_celsius);
 
 	const float dp = fabsf(differential_pressure);
 	float dp_tot = dp;
@@ -153,18 +156,6 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_
 		break;
 	}
 
-	// if (!PX4_ISFINITE(dp_tube)) {
-	// 	dp_tube = 0.0f;
-	// }
-
-	// if (!PX4_ISFINITE(dp_pitot)) {
-	// 	dp_pitot = 0.0f;
-	// }
-
-	// if (!PX4_ISFINITE(dv)) {
-	// 	dv = 0.0f;
-	// }
-
 	// computed airspeed without correction for inflow-speed at tip of pitot-tube
 	const float airspeed_uncorrected = sqrtf(2.0f * dp_tot / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
 
@@ -192,7 +183,7 @@ float calc_TAS_from_CAS(float speed_calibrated, float pressure_ambient, float te
 		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
 	}
 
-	return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient,
+	return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / getDensityFromPressureAndTemp(pressure_ambient,
 					temperature_celsius));
 }
 
@@ -203,7 +194,7 @@ float calc_CAS_from_IAS(float speed_indicated, float scale)
 
 float calc_TAS(float total_pressure, float static_pressure, float temperature_celsius)
 {
-	float density = get_air_density(static_pressure, temperature_celsius);
+	float density = getDensityFromPressureAndTemp(static_pressure, temperature_celsius);
 
 	if (density < 0.0001f || !PX4_ISFINITE(density)) {
 		density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
@@ -219,15 +210,6 @@ float calc_TAS(float total_pressure, float static_pressure, float temperature_ce
 	}
 }
 
-float get_air_density(float static_pressure, float temperature_celsius)
-{
-	if (!PX4_ISFINITE(temperature_celsius)) {
-		temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
-	}
-
-	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
-}
-
 float calc_calibrated_from_true_airspeed(float speed_true, float air_density)
 {
 	return speed_true * sqrtf(air_density / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);

src/lib/airspeed/airspeed.h

@@ -127,7 +127,6 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe
 * @param static_pressure ambient pressure in millibar
 * @param temperature_celcius air / ambient temperature in Celsius
 */
-__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
 
 /**
  * @brief Calculates calibrated airspeed from true airspeed and air density

src/lib/atmosphere/CMakeLists.txt

@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(atmosphere
+        atmosphere.cpp
+        )
+px4_add_unit_gtest(SRC test_atmosphere.cpp LINKLIBS atmosphere)

src/lib/atmosphere/atmosphere.cpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file atmosphere.cpp
+ *
+ */
+
+#include <geo/geo.h>
+#include "atmosphere.h"
+namespace atmosphere
+{
+
+static constexpr float kTempRefKelvin = 15.f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // temperature at base height in Kelvin
+static constexpr float kTempGradient = -6.5f / 1000.f; // temperature gradient in degrees per meter
+static constexpr float kPressRefSeaLevelPa = 101325.f; // pressure at sea level in Pa
+
+float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius)
+{
+	return (pressure_pa / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS)));
+}
+float getPressureFromAltitude(const float altitude_m)
+{
+
+	return kPressRefSeaLevelPa * powf((altitude_m * kTempGradient + kTempRefKelvin) / kTempRefKelvin,
+					  -CONSTANTS_ONE_G / (kTempGradient * CONSTANTS_AIR_GAS_CONST));
+}
+float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa)
+{
+	// calculate altitude using the hypsometric equation
+
+	const float pressure_ratio = pressure_pa / pressure_sealevel_pa;
+
+	/*
+	 * Solve:
+	 *
+	 *     /        -(aR / g)     \
+	 *    | (p / p1)          . T1 | - T1
+	 *     \                      /
+	 * h = -------------------------------  + h1
+	 *                   a
+	 */
+	return (((powf(pressure_ratio, (-(kTempGradient * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * kTempRefKelvin) -
+		kTempRefKelvin) / kTempGradient;
+
+}
+float getStandardTemperatureAtAltitude(float altitude_m)
+{
+	return 15.0f + kTempGradient * altitude_m;
+}
+}

src/lib/atmosphere/atmosphere.h

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file atmosphere.h
+ *
+ */
+
+#ifndef PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_
+#define PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_
+
+namespace atmosphere
+{
+
+// NOTE: We are currently only modelling the first layer of the US Standard Atmosphere 1976.
+// This means that the functions are only valid up to an altitude of 11km.
+
+/**
+* Calculate air density given air pressure and temperature.
+*
+* @param pressure_pa ambient pressure in Pa
+* @param temperature_celsius ambient temperature in degrees Celsius
+*/
+float getDensityFromPressureAndTemp(const float pressure_pa, const float temperature_celsius);
+
+/**
+* Calculate standard airpressure given altitude.
+*
+* @param altitude_m altitude above MSL in meters in the standard atmosphere
+*/
+float getPressureFromAltitude(const float altitude_m);
+
+/**
+* Calculate altitude from air pressure and temperature.
+*
+* @param pressure_pa ambient pressure in Pa
+* @param pressure_sealevel_pa sea level pressure in Pa
+*/
+float getAltitudeFromPressure(float pressure_pa, float pressure_sealevel_pa);
+
+/**
+* Get standard temperature at altitude.
+*
+* @param altitude_m Altitude msl in meters
+* @return Standard temperature in degrees Celsius
+*/
+float getStandardTemperatureAtAltitude(float altitude_m);
+}
+
+#endif //PX4_SRC_LIB_ATMOSPHERE_ATMOSPHERE_H_

src/lib/atmosphere/test_atmosphere.cpp

@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * To run this test only use: make tests TESTFILTER=atmosphere
+ */
+
+#include <gtest/gtest.h>
+#include <lib/atmosphere/atmosphere.h>
+using namespace atmosphere;
+
+TEST(TestAtmosphere, pressureFromAltitude)
+{
+	// GIVEN pressure at seal level in standard atmosphere and sea level altitude
+	const float pressureAtSeaLevel = 101325.f; // Pa
+	float altitude = 0.0f;
+
+	// WHEN we calculate pressure based on altitude
+	float pressure = getPressureFromAltitude(altitude);
+
+	// THEN expect seal level pressure for standard atmosphere
+	EXPECT_FLOAT_EQ(pressure, pressureAtSeaLevel);
+
+	// WHEN we are at 3000m altitude
+	altitude = 3000.0f;
+	pressure = getPressureFromAltitude(altitude);
+
+	// THEN expect standard atmosphere pressure at 3000m (error of 10Pa corresponds to 1m altitude error in standard atmosphere when altitude is between 1000 and 2000m)
+	EXPECT_NEAR(pressure, 70120.f, 10.0f);
+}
+
+TEST(TestAtmosphere, altitudeFromPressure)
+{
+	// GIVEN pressure at seal level in standard atmosphere
+	const float pressureAtSealevel = 101325.f;
+	float pressure = pressureAtSealevel;
+
+	// WHEN we calculate altitude from pressure
+	float altitude = getAltitudeFromPressure(pressure, pressureAtSealevel);
+
+	// THEN expect resulting altitude to be near sea level
+	EXPECT_FLOAT_EQ(altitude, 0.0f);
+
+	// GIVEN  pressure is standard atmosphere pressure at 3000m
+	pressure = 70109.f;
+
+	// WHEN we calculate altitude from pressure
+	altitude = getAltitudeFromPressure(pressure, pressureAtSealevel);
+
+	// THEN expect altitude to be near 3000m
+	EXPECT_NEAR(altitude, 3000.0f, 0.5f);
+}
+
+TEST(TestAtmosphere, DensityFromPressure)
+{
+// GIVEN standard atmosphere at sea level
+	const float pressureAtSealevel = 101325.f;
+	const float tempSeaLevel = 15.f;
+
+	// WHEN we calculate density from pressure and temperature
+	float density = getDensityFromPressureAndTemp(pressureAtSealevel, tempSeaLevel);
+
+	// THEN expect density at sea level in standard atmosphere
+	EXPECT_NEAR(density, 1.225f, 0.001f);
+
+	// GIVEN standard atmosphere at 3000m
+	const float pressure = 70109.f;
+	const float tempAt3000m = -4.5f;
+
+	// WHEN we calculate density from pressure and temperature
+	density = getDensityFromPressureAndTemp(pressure, tempAt3000m);
+
+	// THEN expect density at 3000m in standard atmosphere
+	EXPECT_NEAR(density, 0.9091f, 0.001f);
+}
+
+TEST(TestAtmosphere, StandardTemperature)
+{
+	// GIVEN standard atmosphere at sea level
+	float altitude = 0.f;
+
+	// WHEN we calculate standard temperature from altitude
+	float temperature = getStandardTemperatureAtAltitude(altitude);
+
+	// THEN expect standard temperature at sea level
+	EXPECT_NEAR(temperature, 15.f, 0.001f);
+
+	// GIVEN standard atmosphere at 3000m
+	altitude = 3000.f;
+
+	// WHEN we calculate standard temperature from altitude
+	temperature = getStandardTemperatureAtAltitude(altitude);
+
+	// THEN expect standard temperature at 3000m
+	EXPECT_NEAR(temperature, -4.5f, 0.001f);
+}

src/modules/sensors/vehicle_air_data/CMakeLists.txt

@@ -40,4 +40,6 @@ target_link_libraries(vehicle_air_data
 		data_validator
 		px4_work_queue
 		sensor_calibration
+	PUBLIC
+		atmosphere
 )

src/modules/sensors/vehicle_air_data/VehicleAirData.cpp

@@ -36,11 +36,14 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/events.h>
 #include <lib/geo/geo.h>
+#include <lib/atmosphere/atmosphere.h>
+
 
 namespace sensors
 {
 
 using namespace matrix;
+using namespace atmosphere;
 
 static constexpr uint32_t SENSOR_TIMEOUT{300_ms};
 
@@ -189,8 +192,9 @@ void VehicleAirData::Run()
 					// pressure corrected with offset (if available)
 					_calibration[uorb_index].SensorCorrectionsUpdate();
 					const float pressure_corrected = _calibration[uorb_index].Correct(report.pressure);
+					const float pressure_sealevel_pa = _param_sens_baro_qnh.get() * 100.f;
 
-					float data_array[3] {pressure_corrected, report.temperature, PressureToAltitude(pressure_corrected)};
+					float data_array[3] {pressure_corrected, report.temperature, getAltitudeFromPressure(pressure_corrected, pressure_sealevel_pa)};
 					_voter.put(uorb_index, report.timestamp, data_array, report.error_count, _priority[uorb_index]);
 
 					_timestamp_sample_sum[uorb_index] += report.timestamp_sample;
@@ -251,11 +255,11 @@ void VehicleAirData::Run()
 						const float pressure_pa = _data_sum[instance] / _data_sum_count[instance];
 						const float temperature = _temperature_sum[instance] / _data_sum_count[instance];
 
-						float altitude = PressureToAltitude(pressure_pa, temperature);
+						const float pressure_sealevel_pa = _param_sens_baro_qnh.get() * 100.f;
+						const float altitude = getAltitudeFromPressure(pressure_pa, pressure_sealevel_pa);
 
 						// calculate air density
-						float air_density = pressure_pa / (CONSTANTS_AIR_GAS_CONST * (_air_temperature_celsius -
-										   CONSTANTS_ABSOLUTE_NULL_CELSIUS));
+						const float air_density = getDensityFromPressureAndTemp(pressure_pa, temperature);
 
 						// populate vehicle_air_data with and publish
 						vehicle_air_data_s out{};
@@ -295,32 +299,6 @@ void VehicleAirData::Run()
 	perf_end(_cycle_perf);
 }
 
-float VehicleAirData::PressureToAltitude(float pressure_pa, float temperature) const
-{
-	// calculate altitude using the hypsometric equation
-	static constexpr float T1 = 15.f - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // temperature at base height in Kelvin
-	static constexpr float a = -6.5f / 1000.f; // temperature gradient in degrees per metre
-
-	// current pressure at MSL in kPa (QNH in hPa)
-	const float p1 = _param_sens_baro_qnh.get() * 0.1f;
-
-	// measured pressure in kPa
-	const float p = pressure_pa * 0.001f;
-
-	/*
-	 * Solve:
-	 *
-	 *     /        -(aR / g)     \
-	 *    | (p / p1)          . T1 | - T1
-	 *     \                      /
-	 * h = -------------------------------  + h1
-	 *                   a
-	 */
-	float altitude = (((powf((p / p1), (-(a * CONSTANTS_AIR_GAS_CONST) / CONSTANTS_ONE_G))) * T1) - T1) / a;
-
-	return altitude;
-}
-
 void VehicleAirData::CheckFailover(const hrt_abstime &time_now_us)
 {
 	// check failover and report (save failover report for a cycle where parameters didn't update)

src/modules/sensors/vehicle_air_data/VehicleAirData.hpp

@@ -79,8 +79,6 @@ private:
 	bool ParametersUpdate(bool force = false);
 	void UpdateStatus();
 
-	float PressureToAltitude(float pressure_pa, float temperature = 15.f) const;
-
 	static constexpr int MAX_SENSOR_COUNT = 4;
 
 	uORB::Publication<sensors_status_s> _sensors_status_baro_pub{ORB_ID(sensors_status_baro)};