move AP_Baro calls up to AP_Vehicle

Author: peterbarker

AntennaTracker/Parameters.cpp

@@ -208,11 +208,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(pitch_max,               "PITCH_MAX",	PITCH_MAX_DEFAULT),
 
-    // barometer library
-    // @Group: BARO
-    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
-    GOBJECT(barometer, "BARO", AP_Baro),
-
     // @Group: COMPASS_
     // @Path: ../libraries/AP_Compass/AP_Compass.cpp
     GOBJECT(compass,                "COMPASS_",     Compass),
@@ -608,6 +603,10 @@ void Tracker::load_parameters(void)
 
     AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
 
+#if AP_BARO_ENABLED
+    AP::baro().convert_parameters_for_move_to_ap_vehicle(Parameters::k_param_barometer_old);
+#endif
+
 #if HAL_HAVE_SAFETY_SWITCH
     // configure safety switch to allow stopping the motors while armed
     AP_Param::set_default_by_name("BRD_SAFETYOPTION", AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF|

AntennaTracker/Parameters.h

@@ -54,7 +54,7 @@ class Parameters {
         k_param_compass_enabled_deprecated,
         k_param_compass,
         k_param_ahrs,  // AHRS group
-        k_param_barometer,
+        k_param_barometer_old,
         k_param_scheduler,
         k_param_ins,
         k_param_sitl,

AntennaTracker/Tracker.cpp

@@ -55,7 +55,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(update_compass,         10,    1500, 25),
     SCHED_TASK(compass_save,            0.02,  200, 30),
     SCHED_TASK_CLASS(AP_BattMonitor,    &tracker.battery,   read,           10, 1500, 35),
-    SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10, 1500, 40),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_send,    50, 3000, 50),
 #if HAL_LOGGING_ENABLED

AntennaTracker/Tracker.h

@@ -195,6 +195,7 @@ class Tracker : public AP_Vehicle {
 
     // system.cpp
     void init_ardupilot() override;
+    uint32_t baro_log_bit() const override { return MASK_LOG_IMU; }
     bool get_home_eeprom(Location &loc) const;
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED;

AntennaTracker/system.cpp

@@ -13,10 +13,6 @@ void Tracker::init_ardupilot()
     // initialise battery
     battery.init();
 
-    // init baro before we start the GCS, so that the CLI baro test works
-    barometer.set_log_baro_bit(MASK_LOG_IMU);
-    barometer.init();
-
     // setup telem slots with serial ports
     gcs().setup_uarts();
     // update_send so that if the first packet we receive happens to
@@ -38,8 +34,6 @@ void Tracker::init_ardupilot()
     ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
 
-    barometer.calibrate();
-
 #if HAL_LOGGING_ENABLED
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));

ArduCopter/Copter.cpp

@@ -173,7 +173,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if AP_BEACON_ENABLED
     SCHED_TASK_CLASS(AP_Beacon,            &copter.g2.beacon,           update,         400,  50,  39),
 #endif
-    SCHED_TASK(update_altitude,       10,    100,  42),
     SCHED_TASK(run_nav_updates,       50,    100,  45),
     SCHED_TASK(update_throttle_hover,100,     90,  48),
 #if MODE_SMARTRTL_ENABLED == ENABLED
@@ -756,10 +755,12 @@ void Copter::read_AHRS(void)
 }
 
 // read baro and log control tuning
-void Copter::update_altitude()
+void Copter::update_barometer()
 {
     // read in baro altitude
-    read_barometer();
+    AP_Vehicle::update_barometer();
+
+    baro_alt = barometer.get_altitude() * 100.0f;
 
 #if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_CTUN)) {

ArduCopter/Copter.h

@@ -705,7 +705,6 @@ class Copter : public AP_Vehicle {
     void update_simple_mode(void);
     void update_super_simple_bearing(bool force_update);
     void read_AHRS(void);
-    void update_altitude();
     bool get_wp_distance_m(float &distance) const override;
     bool get_wp_bearing_deg(float &bearing) const override;
     bool get_wp_crosstrack_error_m(float &xtrack_error) const override;
@@ -923,7 +922,7 @@ class Copter : public AP_Vehicle {
     int16_t get_throttle_mid(void);
 
     // sensors.cpp
-    void read_barometer(void);
+    void update_barometer(void) override;
     void init_rangefinder(void);
     void read_rangefinder(void);
     bool rangefinder_alt_ok() const;
@@ -941,6 +940,8 @@ class Copter : public AP_Vehicle {
 
     // system.cpp
     void init_ardupilot() override;
+    uint32_t baro_log_bit() const override { return MASK_LOG_IMU; }
+
     void startup_INS_ground();
     bool position_ok() const;
     bool ekf_has_absolute_position() const;

ArduCopter/Parameters.cpp

@@ -579,9 +579,7 @@ const AP_Param::Info Copter::var_info[] = {
     GOBJECT(sitl, "SIM_", SITL::SIM),
 #endif
 
-    // @Group: BARO
-    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
-    GOBJECT(barometer, "BARO", AP_Baro),
+    // BARO was here
 
     // GPS driver
     // @Group: GPS
@@ -1385,6 +1383,9 @@ void Copter::load_parameters(void)
 
     AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
 
+#if AP_BARO_ENABLED
+    AP::baro().convert_parameters_for_move_to_ap_vehicle(Parameters::k_param_barometer_old);
+#endif
 
     // setup AP_Param frame type flags
     AP_Param::set_frame_type_flags(AP_PARAM_FRAME_COPTER);

ArduCopter/Parameters.h

@@ -64,7 +64,7 @@ class Parameters {
         k_param_sitl = 10,
 
         // barometer object (needed for SITL)
-        k_param_barometer,
+        k_param_barometer_old,
 
         // scheduler object (for debugging)
         k_param_scheduler,

ArduCopter/sensors.cpp

@@ -1,13 +1,5 @@
 #include "Copter.h"
 
-// return barometric altitude in centimeters
-void Copter::read_barometer(void)
-{
-    barometer.update();
-
-    baro_alt = barometer.get_altitude() * 100.0f;
-}
-
 void Copter::init_rangefinder(void)
 {
 #if RANGEFINDER_ENABLED == ENABLED

ArduCopter/system.cpp

@@ -29,8 +29,6 @@ void Copter::init_ardupilot()
 
     // Init RSSI
     rssi.init();
-    
-    barometer.init();
 
     // setup telem slots with serial ports
     gcs().setup_uarts();
@@ -128,11 +126,6 @@ void Copter::init_ardupilot()
     USERHOOK_INIT
 #endif
 
-    // read Baro pressure at ground
-    //-----------------------------
-    barometer.set_log_baro_bit(MASK_LOG_IMU);
-    barometer.calibrate();
-
 #if RANGEFINDER_ENABLED == ENABLED
     // initialise rangefinder
     init_rangefinder();

ArduPlane/ArduPlane.cpp

@@ -69,7 +69,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(navigate,               10,    150,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
     SCHED_TASK(calc_airspeed_errors,   10,    100,  42),
-    SCHED_TASK(update_alt,             10,    200,  45),
     SCHED_TASK(adjust_altitude_target, 10,    200,  48),
 #if AP_ADVANCEDFAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,           10,    100,  51),
@@ -540,9 +539,9 @@ void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
 #endif
 }
 
-void Plane::update_alt()
+void Plane::update_barometer()
 {
-    barometer.update();
+    AP_Vehicle::update_barometer();
 
     // calculate the sink rate.
     float sink_rate;

ArduPlane/Parameters.cpp

@@ -736,9 +736,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     ASCALAR(crash_detection_enable,         "CRASH_DETECT",   0),
 
-    // @Group: BARO
-    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
-    GOBJECT(barometer, "BARO", AP_Baro),
+    // BARO was here
 
     // GPS driver
     // @Group: GPS
@@ -1550,4 +1548,8 @@ void Plane::load_parameters(void)
     };
 
     AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
+
+#if AP_BARO_ENABLED
+    AP::baro().convert_parameters_for_move_to_ap_vehicle(Parameters::k_param_barometer_old);
+#endif
 }

ArduPlane/Parameters.h

@@ -197,7 +197,7 @@ class Parameters {
         k_param_pack_capacity,      // unused
         k_param_sonar_enabled_old,  // unused
         k_param_ahrs,  // AHRS group
-        k_param_barometer,   // barometer ground calibration
+        k_param_barometer_old,   // barometer ground calibration
         k_param_airspeed,           // only used for parameter conversion; AP_Airspeed parameters moved to AP_Vehicle
         k_param_curr_amp_offset,
         k_param_NavEKF,  // deprecated - remove

ArduPlane/Plane.h

@@ -1034,7 +1034,7 @@ class Plane : public AP_Vehicle {
     void update_GPS_50Hz(void);
     void update_GPS_10Hz(void);
     void update_compass(void);
-    void update_alt(void);
+    void update_barometer(void) override;
 #if AP_ADVANCEDFAILSAFE_ENABLED
     void afs_fs_check(void);
 #endif
@@ -1085,6 +1085,7 @@ class Plane : public AP_Vehicle {
 
     // system.cpp
     void init_ardupilot() override;
+    uint32_t baro_log_bit() const override { return MASK_LOG_IMU; }
     bool set_mode(Mode& new_mode, const ModeReason reason);
     bool set_mode(const uint8_t mode, const ModeReason reason) override;
     bool set_mode_by_number(const Mode::Number new_mode_number, const ModeReason reason);

ArduPlane/system.cpp

@@ -33,9 +33,6 @@ void Plane::init_ardupilot()
 
     init_rc_out_main();
 
-    // init baro
-    barometer.init();
-
     // initialise rangefinder
     rangefinder.set_log_rfnd_bit(MASK_LOG_SONAR);
     rangefinder.init(ROTATION_PITCH_270);
@@ -417,11 +414,6 @@ void Plane::startup_INS(void)
 
     ins.init(scheduler.get_loop_rate_hz());
     ahrs.reset();
-
-    // read Baro pressure at ground
-    //-----------------------------
-    barometer.set_log_baro_bit(MASK_LOG_IMU);
-    barometer.calibrate();
 }
 
 // sets notify object flight mode information

ArduSub/ArduSub.cpp

@@ -76,7 +76,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
 #endif
     SCHED_TASK(update_batt_compass,   10,    120,  12),
     SCHED_TASK(read_rangefinder,      20,    100,  15),
-    SCHED_TASK(update_altitude,       10,    100,  18),
     SCHED_TASK(three_hz_loop,          3,     75,  21),
     SCHED_TASK(update_turn_counter,   10,     50,  24),
     SCHED_TASK(one_hz_loop,            1,    100,  33),
@@ -312,11 +311,20 @@ void Sub::read_AHRS()
     ahrs_view.update();
 }
 
-// read baro and rangefinder altitude at 10hz
-void Sub::update_altitude()
+// override barometer update method to do a few extra things
+void Sub::update_barometer()
 {
-    // read in baro altitude
-    read_barometer();
+    AP_Vehicle::update_barometer();
+
+    // If we are reading a positive altitude, the sensor needs calibration
+    // Even a few meters above the water we should have no significant depth reading
+    if(barometer.get_altitude() > 0) {
+        barometer.update_calibration();
+    }
+
+    if (ap.depth_sensor_present) {
+        sensor_health.depth = barometer.healthy(depth_sensor_idx);
+    }
 
 #if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_CTUN)) {

ArduSub/Parameters.cpp

@@ -574,9 +574,7 @@ const AP_Param::Info Sub::var_info[] = {
     GOBJECT(sitl, "SIM_", SITL::SIM),
 #endif
 
-    // @Group: BARO
-    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
-    GOBJECT(barometer, "BARO", AP_Baro),
+    // BARO was here
 
     // GPS driver
     // @Group: GPS
@@ -781,6 +779,10 @@ void Sub::load_parameters()
     };
 
     AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));
+
+#if AP_BARO_ENABLED
+    AP::baro().convert_parameters_for_move_to_ap_vehicle(Parameters::k_param_barometer_old);
+#endif
 }
 
 void Sub::convert_old_parameters()

ArduSub/Parameters.h

@@ -69,7 +69,7 @@ class Parameters {
         // Sensor objects
         k_param_ins = 30, // AP_InertialSensor
         k_param_compass, // Compass
-        k_param_barometer, // Barometer/Depth Sensor
+        k_param_barometer_old, // Barometer/Depth Sensor
         k_param_battery, // AP_BattMonitor
         k_param_leak_detector, // Leak Detector
         k_param_rangefinder, // Rangefinder

ArduSub/Sub.h

@@ -387,7 +387,6 @@ class Sub : public AP_Vehicle {
     void one_hz_loop();
     void update_turn_counter();
     void read_AHRS(void);
-    void update_altitude();
     float get_smoothing_gain();
     void get_pilot_desired_lean_angles(float roll_in, float pitch_in, float &roll_out, float &pitch_out, float angle_max);
     float get_pilot_desired_yaw_rate(int16_t stick_angle) const;
@@ -476,12 +475,13 @@ class Sub : public AP_Vehicle {
     JSButton* get_button(uint8_t index);
     void default_js_buttons(void);
     void clear_input_hold();
-    void read_barometer(void);
+    void update_barometer(void) override;
     void init_rangefinder(void);
     void read_rangefinder(void);
     void terrain_update();
     void terrain_logging();
     void init_ardupilot() override;
+    uint32_t baro_log_bit() const override { return MASK_LOG_IMU; }
     void get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
                              uint8_t &task_count,
                              uint32_t &log_bit) override;

ArduSub/sensors.cpp

@@ -1,20 +1,5 @@
 #include "Sub.h"
 
-// return barometric altitude in centimeters
-void Sub::read_barometer()
-{
-    barometer.update();
-    // If we are reading a positive altitude, the sensor needs calibration
-    // Even a few meters above the water we should have no significant depth reading
-    if(barometer.get_altitude() > 0) {
-        barometer.update_calibration();
-    }
-
-    if (ap.depth_sensor_present) {
-        sensor_health.depth = barometer.healthy(depth_sensor_idx);
-    }
-}
-
 void Sub::init_rangefinder()
 {
 #if RANGEFINDER_ENABLED == ENABLED

ArduSub/system.cpp

@@ -20,8 +20,6 @@ void Sub::init_ardupilot()
     // initialise battery monitor
     battery.init();
 
-    barometer.init();
-
 #if AP_FEATURE_BOARD_DETECT
     // Detection won't work until after BoardConfig.init()
     switch (AP_BoardConfig::get_board_type()) {
@@ -100,11 +98,8 @@ void Sub::init_ardupilot()
     USERHOOK_INIT
 #endif
 
-    // Init baro and determine if we have external (depth) pressure sensor
-    barometer.set_log_baro_bit(MASK_LOG_IMU);
-    barometer.calibrate(false);
+    // determine if we have external (depth) pressure sensor
     barometer.update();
-
     for (uint8_t i = 0; i < barometer.num_instances(); i++) {
         if (barometer.get_type(i) == AP_Baro::BARO_TYPE_WATER) {
             barometer.set_primary_baro(i);