uORB doc update: SensorBaro, DifferentialPressure #25712
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
hamishwillee
commented
Oct 8, 2025
Comment on lines
+8
to
+11
| uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles | ||
| float32 differential_pressure_pa # [Pa] Differential pressure reading in Pascals (may be negative) | ||
| float32 temperature # [degC] [@invalid NaN if unknown] Temperature | ||
| uint32 error_count # [-] Number of errors detected by driver |
There was a problem hiding this comment.
Note, I made these grouped (no inter-line whitespace. It makes it more readable like this, and they share they quality that they carry the raw data.
Note, new unit here is "Pa" for pascals.
hamishwillee
commented
Oct 8, 2025
| uint32 error_count # Number of errors detected by driver | ||
| uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles | ||
| float32 differential_pressure_pa # [Pa] Differential pressure reading in Pascals (may be negative) | ||
| float32 temperature # [degC] [@invalid NaN if unknown] Temperature |
There was a problem hiding this comment.
This is marked as NaN if unknown.
- is it possible for it to be unknown?
- Do the values default to zero on construction? I ask because this is used in SCALED_PRESSURE but might not be populated. That means we need them to be zero on construction to match what MAVLink expects.
hamishwillee
commented
Oct 8, 2025
hamishwillee
commented
Oct 8, 2025
| uint64 timestamp_sample | ||
| # Differential-pressure sensor | ||
| # | ||
| # ? |
There was a problem hiding this comment.
What do we want to say about this?
hamishwillee
commented
Oct 8, 2025
Comment on lines
+2
to
+3
| # | ||
| # ? This is used in the `SCALED_PRESSURE_n` MAVLink messages (values must be zero-filled). |
There was a problem hiding this comment.
What do we want to say about this? Normally we talk about setters and getters. So something like
Suggested change
| # | |
| # ? This is used in the `SCALED_PRESSURE_n` MAVLink messages (values must be zero-filled). | |
| # | |
| # This is populated by barometer drivers. It is used by the EKF2 estimator and published externally via the `SCALED_PRESSURE` (and intances) MAVLink messages, | |
| # Note that values must be zero filled on creation. |
hamishwillee
commented
Oct 8, 2025
msg/SensorBaro.msg
Outdated
Comment on lines
5
to
11
| uint64 timestamp # [us] Time since system start | ||
| uint64 timestamp_sample # [us] Timestamp of the raw data | ||
|
|
||
| float32 pressure # static pressure measurement in Pascals | ||
|
|
||
| float32 temperature # temperature in degrees Celsius | ||
|
|
||
| uint32 error_count | ||
| uint32 device_id # [-] Unique device ID for the sensor that does not change between power cycles | ||
| float32 pressure # [Pa] Static pressure measurement | ||
| float32 temperature # [degC] Temperature. | ||
| uint32 error_count # [-] Number of errors detected by driver. |
There was a problem hiding this comment.
All the same questions from other message.
Mavlink uses fields from this and DifferentialPressure in the Scaled_Pressure message. However if there is a baro but no airspeed sensor, or visa versa the values picked out of the non-existing object need to be zero,.
hamishwillee
commented
Oct 8, 2025
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This updates the uORB SensorBaro and DifferentialPressure topics to latest docs standard.
There are open issues that need developers input.