uORB doc update: SensorBaro, DifferentialPressure #25712
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hamishwillee
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Oct 8, 2025
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| 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 |
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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.
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 |
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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 | ||
| # | ||
| # ? |
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What do we want to say about this?
hamishwillee
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Oct 8, 2025
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| # | ||
| # ? This is used in the `SCALED_PRESSURE_n` MAVLink messages (values must be zero-filled). |
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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). |
hamishwillee
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Oct 8, 2025
msg/SensorBaro.msg
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| uint64 timestamp # [us] Time since system start | ||
| uint64 timestamp_sample # [us] Timestamp of the raw data | ||
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| float32 pressure # static pressure measurement in Pascals | ||
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| float32 temperature # temperature in degrees Celsius | ||
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| 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,.
hamishwillee
commented
Oct 8, 2025
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This updates the uORB SensorBaro and DifferentialPressure topics to latest docs standard.
There are open issues that need developers input.