AP_Baro: cleaned up temperature and pressure units

thanks to Mike McCauley for pointing this out

libraries/AP_Baro/AP_Baro.cpp

@@ -115,7 +115,7 @@ void AP_Baro::calibrate()
     }
 
     _ground_pressure.set_and_save(ground_pressure);
-    _ground_temperature.set_and_save(ground_temperature / 10.0f);
+    _ground_temperature.set_and_save(ground_temperature);
 }
 
 // return current altitude estimate relative to time that calibrate()

libraries/AP_Baro/AP_Baro.h

@@ -18,11 +18,12 @@ public:
 
     virtual bool            init()=0;
     virtual uint8_t         read() = 0;
-    virtual float           get_pressure() = 0;
-    virtual float           get_temperature() = 0;
 
-    virtual int32_t         get_raw_pressure() = 0;
-    virtual int32_t         get_raw_temp() = 0;
+    // pressure in Pascal. Divide by 100 for millibars or hectopascals
+    virtual float           get_pressure() = 0;
+
+    // temperature in degrees C
+    virtual float           get_temperature() = 0;
 
     // accumulate a reading - overridden in some drivers
     virtual void            accumulate(void) {}
@@ -49,10 +50,14 @@ public:
     // going up
     float           get_climb_rate(void);
 
+    // ground temperature in degrees C
     // the ground values are only valid after calibration
     float           get_ground_temperature(void) {
         return _ground_temperature.get();
     }
+
+    // ground pressure in Pascal
+    // the ground values are only valid after calibration
     float           get_ground_pressure(void) {
         return _ground_pressure.get();
     }

libraries/AP_Baro/AP_Baro_BMP085.cpp

@@ -141,7 +141,7 @@ uint8_t AP_Baro_BMP085::read()
     }
     _last_update = hal.scheduler->millis();
 
-    Temp = _temp_sum / _count;
+    Temp = 0.1f * _temp_sum / _count;
     Press = _press_sum / _count;
 
     _pressure_samples = _count;
@@ -160,14 +160,6 @@ float AP_Baro_BMP085::get_temperature() {
     return Temp;
 }
 
-int32_t AP_Baro_BMP085::get_raw_pressure() {
-    return RawPress;
-}
-
-int32_t AP_Baro_BMP085::get_raw_temp() {
-    return RawTemp;
-}
-
 // Private functions: /////////////////////////////////////////////////////////
 
 // Send command to Read Pressure

libraries/AP_Baro/AP_Baro_BMP085.h

@@ -22,9 +22,6 @@ public:
     float           get_pressure();
     float           get_temperature();
 
-    int32_t         get_raw_pressure();
-    int32_t         get_raw_temp();
-
 private:
     int32_t         RawPress;
     int32_t         RawTemp;

libraries/AP_Baro/AP_Baro_HIL.cpp

@@ -96,11 +96,3 @@ float AP_Baro_HIL::get_pressure() {
 float AP_Baro_HIL::get_temperature() {
     return Temp;
 }
-
-int32_t AP_Baro_HIL::get_raw_pressure() {
-    return Press;
-}
-
-int32_t AP_Baro_HIL::get_raw_temp() {
-    return Temp;
-}

libraries/AP_Baro/AP_Baro_HIL.h

@@ -20,8 +20,6 @@ public:
     uint8_t read();
     float get_pressure();
     float get_temperature();
-    int32_t get_raw_pressure();
-    int32_t get_raw_temp();
     void setHIL(float altitude_msl);
 };
 

libraries/AP_Baro/AP_Baro_MS5611.cpp

@@ -22,7 +22,7 @@
  *       Chip Select pin: Analog2 (provisional until Jordi defines the pin)!!
  *
  *       Variables:
- *               Temp : Calculated temperature (in Celsius degrees * 100)
+ *               Temp : Calculated temperature (in Celsius degrees)
  *               Press : Calculated pressure   (in mbar units * 100)
  *
  *
@@ -404,7 +404,7 @@ void AP_Baro_MS5611::_calculate()
     }
 
     P = (D1*SENS/2097152 - OFF)/32768;
-    Temp = TEMP + 2000;
+    Temp = (TEMP + 2000) * 0.01f;
     Press = P;
 }
 
@@ -415,16 +415,7 @@ float AP_Baro_MS5611::get_pressure()
 
 float AP_Baro_MS5611::get_temperature()
 {
-    // callers want the temperature in 0.1C units
-    return Temp/10;
+    // temperature in degrees C units
+    return Temp;
 }
 
-int32_t AP_Baro_MS5611::get_raw_pressure() {
-    return _raw_press;
-}
-
-int32_t AP_Baro_MS5611::get_raw_temp() {
-    return _raw_temp;
-}
-
-

libraries/AP_Baro/AP_Baro_MS5611.h

@@ -77,10 +77,7 @@ public:
     bool            init();
     uint8_t         read();
     float           get_pressure(); // in mbar*100 units
-    float           get_temperature(); // in celsius degrees * 100 units
-
-    int32_t         get_raw_pressure();
-    int32_t         get_raw_temp();
+    float           get_temperature(); // in celsius degrees
 
     void            _calculate();
 

libraries/AP_Baro/AP_Baro_PX4.cpp

@@ -52,7 +52,7 @@ uint8_t AP_Baro_PX4::read(void)
     }
 
     _pressure    = (_pressure_sum / _sum_count) * 100.0f;
-    _temperature = (_temperature_sum / _sum_count) * 10.0f;
+    _temperature = _temperature_sum / _sum_count;
     _pressure_samples = _sum_count;
     _last_update = (uint32_t)_last_timestamp/1000;
     _pressure_sum = 0;
@@ -83,12 +83,4 @@ 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

@@ -12,8 +12,6 @@ public:
     uint8_t read();
     float get_pressure();
     float get_temperature();
-    int32_t get_raw_pressure();
-    int32_t get_raw_temp();
 
 private:
     float _temperature;