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uORB doc update: SensorBaro, DifferentialPressure #25712

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uORB doc update: SensorBaro, DifferentialPressure #25712

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uORB doc update: SensorBaro, DifferentialPressure
Oct 8, 2025
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Apply suggestion from @hamishwillee
hamishwillee Oct 8, 2025
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hamishwillee Oct 8, 2025
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Make timestamp info match
Oct 8, 2025
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17 changes: 9 additions & 8 deletions msg/DifferentialPressure.msg
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Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
# Differential-pressure sensor
#
# ?
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What do we want to say about this?


uint32 device_id # unique device ID for the sensor that does not change between power cycles
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Timestamp of the raw data

float32 differential_pressure_pa # differential pressure reading in Pascals (may be negative)

float32 temperature # Temperature provided by sensor in degrees Celsius, NAN if unknown

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
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This is marked as NaN if unknown.

  1. is it possible for it to be unknown?
  2. 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.

uint32 error_count # [-] Number of errors detected by driver
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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.

17 changes: 9 additions & 8 deletions msg/SensorBaro.msg
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Original file line number Diff line number Diff line change
@@ -1,12 +1,13 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
# Baro sensor
#
# ? This is used in the `SCALED_PRESSURE_n` MAVLink messages (values must be zero-filled).
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@hamishwillee hamishwillee Oct 8, 2025 •
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What do we want to say about this? Normally we talk about setters and getters. So something like

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#
# ? This is used in the `SCALED_PRESSURE_n` MAVLink messages (values must be zero-filled).
#
# This is populated by barometer drivers and used by the EKF2 estimator.
# Up to 3 instances are published externally via the `SCALED_PRESSURE_n` MAVLink messages (along with information from a corresponding DifferentialPressure instance).


uint32 device_id # unique device ID for the sensor that does not change between power cycles
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.
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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,.


uint8 ORB_QUEUE_LENGTH = 4
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