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drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup

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- split ms4525_airspeed into separate ms4515 and ms4525 drivers
This commit is contained in:
Daniel Agar
2022-04-26 08:39:19 -04:00
parent d1d15a6f6d
commit f390f52058
50 changed files with 1350 additions and 879 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -3
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@@ -2312,7 +2312,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
sensor_baro_s sensor_baro{};
sensor_baro.timestamp_sample = timestamp;
sensor_baro.device_id = 6620172; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
sensor_baro.pressure = hil_sensor.abs_pressure;
sensor_baro.pressure = hil_sensor.abs_pressure * 100.0f; // hPa to Pa
sensor_baro.temperature = hil_sensor.temperature;
sensor_baro.error_count = 0;
sensor_baro.timestamp = hrt_absolute_time();
@@ -2323,9 +2323,9 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
if ((hil_sensor.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS) {
differential_pressure_s report{};
report.timestamp_sample = timestamp;
report.device_id = 0; // TODO
report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
report.temperature = hil_sensor.temperature;
report.differential_pressure_pa = hil_sensor.diff_pressure * 100.0f; // convert from millibar to bar;
report.differential_pressure_pa = hil_sensor.diff_pressure * 100.0f; // hPa to Pa
report.timestamp = hrt_absolute_time();
_differential_pressure_pub.publish(report);
}
@@ -2653,6 +2653,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* airspeed */
{
airspeed_s airspeed{};
airspeed.timestamp_sample = timestamp_sample;
airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;
airspeed.air_temperature_celsius = 15.f;
src/modules/mavlink/streams/SCALED_PRESSURE.hpp
+5 -5
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 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
@@ -72,8 +72,8 @@ private:
if (_sensor_baro_sub.copy(&sensor_baro)) {
msg.time_boot_ms = sensor_baro.timestamp / 1000;
msg.press_abs = sensor_baro.pressure; // millibar to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
msg.press_abs = sensor_baro.pressure * 0.01f; // Pa to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // cdegC (centidegrees)
}
differential_pressure_s differential_pressure;
@@ -83,8 +83,8 @@ private:
msg.time_boot_ms = differential_pressure.timestamp / 1000;
}
msg.press_diff = differential_pressure.differential_pressure_pa * 100.f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
msg.press_diff = differential_pressure.differential_pressure_pa * 0.01f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // cdegC (centidegrees)
}
mavlink_msg_scaled_pressure_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/streams/SCALED_PRESSURE2.hpp
+5 -5
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 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
@@ -72,8 +72,8 @@ private:
if (_sensor_baro_sub.copy(&sensor_baro)) {
msg.time_boot_ms = sensor_baro.timestamp / 1000;
msg.press_abs = sensor_baro.pressure; // millibar to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
msg.press_abs = sensor_baro.pressure * 0.01f; // Pa to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // cdegC (centidegrees)
}
differential_pressure_s differential_pressure;
@@ -83,8 +83,8 @@ private:
msg.time_boot_ms = differential_pressure.timestamp / 1000;
}
msg.press_diff = differential_pressure.differential_pressure_pa * 100.f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
msg.press_diff = differential_pressure.differential_pressure_pa * 0.01f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // cdegC (centidegrees)
}
mavlink_msg_scaled_pressure2_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/streams/SCALED_PRESSURE3.hpp
+5 -5
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2022 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
@@ -72,8 +72,8 @@ private:
if (_sensor_baro_sub.copy(&sensor_baro)) {
msg.time_boot_ms = sensor_baro.timestamp / 1000;
msg.press_abs = sensor_baro.pressure; // millibar to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
msg.press_abs = sensor_baro.pressure * 0.01f; // Pa to hPa
msg.temperature = roundf(sensor_baro.temperature * 100.f); // cdegC (centidegrees)
}
differential_pressure_s differential_pressure;
@@ -83,8 +83,8 @@ private:
msg.time_boot_ms = differential_pressure.timestamp / 1000;
}
msg.press_diff = differential_pressure.differential_pressure_pa * 100.f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
msg.press_diff = differential_pressure.differential_pressure_pa * 0.01f; // Pa to hPa
msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // cdegC (centidegrees)
}
mavlink_msg_scaled_pressure3_send_struct(_mavlink->get_channel(), &msg);