AP_Baro: added PX4 barometer driver

libraries/AP_Baro/AP_Baro.h

@@ -71,5 +71,6 @@ private:
 #include "AP_Baro_MS5611.h"
 #include "AP_Baro_BMP085.h"
 #include "AP_Baro_BMP085_hil.h"
+#include "AP_Baro_PX4.h"
 
 #endif // __AP_BARO_H__

libraries/AP_Baro/AP_Baro_PX4.cpp

@@ -0,0 +1,77 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#include <AP_Baro.h>
+#include "AP_Baro_PX4.h"
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <drivers/drv_baro.h>
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+
+extern const AP_HAL::HAL& hal;
+
+// Public Methods //////////////////////////////////////////////////////////////
+bool AP_Baro_PX4::init(void)
+{
+    int fd;
+
+	fd = open(BARO_DEVICE_PATH, 0);
+	if (fd < 0) {
+        hal.scheduler->panic("Unable to open " BARO_DEVICE_PATH);
+	}
+
+	/* set the driver to poll at 150Hz */
+	ioctl(fd, SENSORIOCSPOLLRATE, 150);
+    close(fd);
+
+	_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
+
+    return true;
+}
+
+// Read the sensor
+uint8_t AP_Baro_PX4::read()
+{
+	bool baro_updated;
+	orb_check(_baro_sub, &baro_updated);
+
+	if (baro_updated) {
+		struct baro_report	baro_report;
+
+		orb_copy(ORB_ID(sensor_baro), _baro_sub, &baro_report);
+
+		_pressure = baro_report.pressure; // Pressure in mbar
+		_temperature = baro_report.temperature; // Temperature in degrees celcius
+        _pressure_samples = 1;
+        _last_update = hal.scheduler->millis();
+        healthy = true;
+        return 1;
+    }
+    
+    return 0;
+}
+
+float AP_Baro_PX4::get_pressure() {
+    return _pressure;
+}
+
+float AP_Baro_PX4::get_temperature() {
+    return _temperature;
+}
+
+int32_t AP_Baro_PX4::get_raw_pressure() {
+    return _pressure;
+}
+
+int32_t AP_Baro_PX4::get_raw_temp() {
+    return _temperature;
+}
+
+#endif // CONFIG_HAL_BOARD

libraries/AP_Baro/AP_Baro_PX4.h

@@ -0,0 +1,26 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+#ifndef __AP_BARO_PX4_H__
+#define __AP_BARO_PX4_H__
+
+#include "AP_Baro.h"
+
+class AP_Baro_PX4 : public AP_Baro
+{
+public:
+    bool init();
+    uint8_t read();
+    float get_pressure();
+    float get_temperature();
+    int32_t get_raw_pressure();
+    int32_t get_raw_temp();
+
+private:
+    float _temperature;
+    float _pressure;
+
+    // ORB subscription handle
+    int _baro_sub;
+};
+
+#endif //  __AP_BARO_PX4_H__

libraries/AP_Baro/examples/AP_Baro_PX4_test/AP_Baro_PX4_test.pde

@@ -0,0 +1,57 @@
+
+#include <AP_Common.h>
+#include <AP_Progmem.h>
+#include <AP_Param.h>
+#include <AP_Math.h>
+#include <AP_HAL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <AP_Buffer.h>
+#include <Filter.h>
+#include <AP_Baro.h>
+
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+
+AP_Baro_PX4 baro;
+static uint32_t timer;
+
+void setup()
+{
+    hal.console->println("PX4 Barometer library test");
+
+    baro.init();
+    baro.calibrate();
+
+    timer = hal.scheduler->micros();
+}
+
+void loop()
+{
+	hal.scheduler->delay(100);
+        baro.read();
+
+        if (!baro.healthy) {
+            hal.console->println("not healthy");
+            return;
+        }
+        hal.console->print("Pressure:");
+        hal.console->print(baro.get_pressure());
+        hal.console->print(" Temperature:");
+        hal.console->print(baro.get_temperature());
+        hal.console->print(" Altitude:");
+        hal.console->print(baro.get_altitude());
+        hal.console->printf(" climb=%.2f samples=%u",
+                      baro.get_climb_rate(),
+                      (unsigned)baro.get_pressure_samples());
+        hal.console->println();
+}
+
+#else // Non-PX4
+#warning AP_Baro_PX4_test is PX4 specific
+void setup () {}
+void loop () {}
+#endif
+
+AP_HAL_MAIN();

libraries/AP_Baro/examples/AP_Baro_PX4_test/Makefile

@@ -0,0 +1,2 @@
+BOARD	=	mega2560
+include ../../../../mk/apm.mk