analog_measurement: Scale values by ADC ref voltage

ROMFS/cannode/init.d/rcS

@@ -91,6 +91,8 @@ then
 fi
 unset BOARD_RC_SENSORS
 
+analog_measurement start
+
 #
 # Start UART/Serial device drivers.
 # Note: rc.serial is auto-generated from Tools/serial/generate_config.py

boards/px4/fmu-v4/cannode.cmake

@@ -56,6 +56,7 @@ px4_add_board(
 		#tone_alarm
 		uavcannode
 	MODULES
+		analog_measurement
 		#ekf2
 		#load_mon
 		sensors
@@ -81,7 +82,7 @@ px4_add_board(
 		#sd_bench
 		#shutdown
 		top
-		#topic_listener
+		topic_listener
 		#tune_control
 		ver
 		work_queue

msg/CMakeLists.txt

@@ -41,6 +41,7 @@ set(msg_files
 	adc_report.msg
 	airspeed.msg
 	airspeed_validated.msg
+	analog_measurement.msg
 	battery_status.msg
 	camera_capture.msg
 	camera_trigger.msg

msg/analog_measurement.msg

@@ -0,0 +1,10 @@
+uint64 timestamp				# time since system start (microseconds)
+int32 id						# Source node ID
+
+uint8[4] unit_type				# Units: mV, mA, Kelvin*10
+uint16[4] values 				# mV, mA, Kelvin*10
+
+uint8 UNITS_NONE = 0
+uint8 UNITS_MV 	 = 1
+uint8 UNITS_MA 	 = 2
+uint8 UNITS_CK 	 = 3

src/drivers/uavcan/CMakeLists.txt

@@ -126,14 +126,15 @@ px4_add_module(
 		actuators/hardpoint.cpp
 
 		# Sensors
-		sensors/sensor_bridge.cpp
-		sensors/differential_pressure.cpp
+		sensors/analog_measurement.cpp
+		sensors/airspeed.cpp
 		sensors/baro.cpp
 		sensors/battery.cpp
-		sensors/airspeed.cpp
+		sensors/differential_pressure.cpp
 		sensors/flow.cpp
 		sensors/gnss.cpp
 		sensors/mag.cpp
+		sensors/sensor_bridge.cpp
 
 	DEPENDS
 		px4_uavcan_dsdlc

src/drivers/uavcan/dsdl/com/volansi/equipment/adc/20201.AnalogMeasurement.uavcan

@@ -0,0 +1,7 @@
+uint3 UNITS_NONE = 0
+uint3 UNITS_MV 	 = 1
+uint3 UNITS_MA 	 = 2
+uint3 UNITS_CK 	 = 3
+uint3[4] unit_type
+
+int16[4] values

src/drivers/uavcan/sensors/analog_measurement.cpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <drivers/drv_hrt.h>
+#include "analog_measurement.hpp"
+
+const char *const UavcanAnalogMeasurementBridge::NAME = "analog_measurement";
+
+UavcanAnalogMeasurementBridge::UavcanAnalogMeasurementBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_airspeed", "/dev/uavcan/analog_measurement", "/dev/analog_measurement",
+				   ORB_ID(analog_measurement)),
+	_sub_analog_data(node)
+{ }
+
+int UavcanAnalogMeasurementBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_analog_data.start(AnalogCbBinder(this, &UavcanAnalogMeasurementBridge::analog_measurement_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void
+UavcanAnalogMeasurementBridge::analog_measurement_sub_cb(const
+		uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &msg)
+{
+	analog_measurement_s report{};
+
+	int node_id = msg.getSrcNodeID().get();
+	report.id = node_id;
+
+	int numIndices = msg.values.size();
+
+	for (int i = 0; i < numIndices; i++) {
+		report.values[i] = msg.values[i];
+		report.unit_type[i] = msg.unit_type[i];
+	}
+
+	publish(node_id, &report);
+}

src/drivers/uavcan/sensors/analog_measurement.hpp

@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author RJ Gritter <rjgritter657@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <uORB/topics/analog_measurement.h>
+
+#include <com/volansi/equipment/adc/AnalogMeasurement.hpp>
+
+class UavcanAnalogMeasurementBridge : public UavcanCDevSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanAnalogMeasurementBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+
+	void analog_measurement_sub_cb(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement>
+				       &msg);
+
+	typedef uavcan::MethodBinder < UavcanAnalogMeasurementBridge *,
+		void (UavcanAnalogMeasurementBridge::*)
+		(const uavcan::ReceivedDataStructure<com::volansi::equipment::adc::AnalogMeasurement> &) >
+		AnalogCbBinder;
+
+	uavcan::Subscriber<com::volansi::equipment::adc::AnalogMeasurement, AnalogCbBinder> _sub_analog_data;
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -38,6 +38,7 @@
 #include "sensor_bridge.hpp"
 #include <cassert>
 
+#include "analog_measurement.hpp"
 #include "differential_pressure.hpp"
 #include "baro.hpp"
 #include "battery.hpp"
@@ -58,6 +59,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	list.add(new UavcanBatteryBridge(node));
 	list.add(new UavcanAirspeedBridge(node));
 	list.add(new UavcanDifferentialPressureBridge(node));
+	list.add(new UavcanAnalogMeasurementBridge(node));
 }
 
 /*

src/drivers/uavcannode/UavcanNode.cpp

@@ -81,6 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	_air_data_static_temperature_publisher(_node),
 	_raw_air_data_publisher(_node),
 	_range_sensor_measurement(_node),
+	_analog_measurement_publisher(_node),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")),
 	_reset_timer(_node)
@@ -330,9 +331,28 @@ void UavcanNode::Run()
 		PX4_ERR("node spin error %i", spin_res);
 	}
 
+	send_analog_measurements();
+	send_battery_info();
+	send_raw_air_data();
+	send_static_pressure();
+	send_magnetic_field_strength2();
+	send_gnss_fix2();
+
+	perf_end(_cycle_perf);
+
+	pthread_mutex_unlock(&_node_mutex);
+
+	if (_task_should_exit.load()) {
+		ScheduleClear();
+		_instance = nullptr;
+	}
+}
+
+void UavcanNode::send_battery_info()
+{
 	// battery_status -> uavcan::equipment::power::BatteryInfo
 	if (_battery_status_sub.updated()) {
-		battery_status_s battery;
+		battery_status_s battery{};
 
 		if (_battery_status_sub.copy(&battery)) {
 			uavcan::equipment::power::BatteryInfo battery_info{};
@@ -359,10 +379,13 @@ void UavcanNode::Run()
 			_power_battery_info_publisher.broadcast(battery_info);
 		}
 	}
+}
 
+void UavcanNode::send_raw_air_data()
+{
 	// differential_pressure -> uavcan::equipment::air_data::RawAirData
 	if (_diff_pressure_sub.updated()) {
-		differential_pressure_s diff_press;
+		differential_pressure_s diff_press{};
 
 		if (_diff_pressure_sub.copy(&diff_press)) {
 
@@ -378,10 +401,13 @@ void UavcanNode::Run()
 			_raw_air_data_publisher.broadcast(raw_air_data);
 		}
 	}
+}
 
+void UavcanNode::send_range_sensor_measurement()
+{
 	// distance_sensor[] -> uavcan::equipment::range_sensor::Measurement
 	for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
-		distance_sensor_s dist;
+		distance_sensor_s dist{};
 
 		if (_distance_sensor_sub[i].update(&dist)) {
 			uavcan::equipment::range_sensor::Measurement range_sensor{};
@@ -427,10 +453,13 @@ void UavcanNode::Run()
 			_range_sensor_measurement.broadcast(range_sensor);
 		}
 	}
+}
 
+void UavcanNode::send_static_pressure()
+{
 	// sensor_baro -> uavcan::equipment::air_data::StaticTemperature
 	if (_sensor_baro_sub.updated()) {
-		sensor_baro_s baro;
+		sensor_baro_s baro{};
 
 		if (_sensor_baro_sub.copy(&baro)) {
 			uavcan::equipment::air_data::StaticPressure static_pressure{};
@@ -445,10 +474,13 @@ void UavcanNode::Run()
 			}
 		}
 	}
+}
 
+void UavcanNode::send_magnetic_field_strength2()
+{
 	// sensor_mag -> uavcan::equipment::ahrs::MagneticFieldStrength2
 	if (_sensor_mag_sub.updated()) {
-		sensor_mag_s mag;
+		sensor_mag_s mag{};
 
 		if (_sensor_mag_sub.copy(&mag)) {
 			uavcan::equipment::ahrs::MagneticFieldStrength2 magnetic_field{};
@@ -459,10 +491,13 @@ void UavcanNode::Run()
 			_ahrs_magnetic_field_strength2_publisher.broadcast(magnetic_field);
 		}
 	}
+}
 
+void UavcanNode::send_gnss_fix2()
+{
 	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
 	if (_vehicle_gps_position_sub.updated()) {
-		vehicle_gps_position_s gps;
+		vehicle_gps_position_s gps{};
 
 		if (_vehicle_gps_position_sub.copy(&gps)) {
 			uavcan::equipment::gnss::Fix2 fix2{};
@@ -494,14 +529,27 @@ void UavcanNode::Run()
 			_gnss_fix2_publisher.broadcast(fix2);
 		}
 	}
+}
 
-	perf_end(_cycle_perf);
+void UavcanNode::send_analog_measurements()
+{
+	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
+	if (_analog_report_sub.updated()) {
+		analog_measurement_s measurement{};
 
-	pthread_mutex_unlock(&_node_mutex);
+		if (_analog_report_sub.copy(&measurement)) {
 
-	if (_task_should_exit.load()) {
-		ScheduleClear();
-		_instance = nullptr;
+			com::volansi::equipment::adc::AnalogMeasurement report{};
+
+			for (size_t i = 0; i < sizeof(measurement.values) / sizeof(measurement.values[0]); i++) {
+				if (measurement.unit_type[i]) {
+					report.unit_type[i] = measurement.unit_type[i];
+					report.values[i] = measurement.values[i];
+				}
+			}
+
+			_analog_measurement_publisher.broadcast(report);
+		}
 	}
 }
 

src/drivers/uavcannode/UavcanNode.hpp

@@ -64,6 +64,7 @@
 #include <uavcan/equipment/gnss/Fix2.hpp>
 #include <uavcan/equipment/power/BatteryInfo.hpp>
 #include <uavcan/equipment/range_sensor/Measurement.hpp>
+#include <com/volansi/equipment/adc/AnalogMeasurement.hpp>
 
 
 #include <lib/parameters/param.h>
@@ -71,10 +72,11 @@
 
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/analog_measurement.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
+#include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_mag.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -146,6 +148,14 @@ private:
 	void		fill_node_info();
 	int		init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events);
 
+	void send_battery_info();
+	void send_raw_air_data();
+	void send_static_pressure();
+	void send_magnetic_field_strength2();
+	void send_gnss_fix2();
+	void send_range_sensor_measurement();
+	void send_analog_measurements();
+
 	px4::atomic_bool	_task_should_exit{false};	///< flag to indicate to tear down the CAN driver
 
 	bool		_initialized{false};		///< number of actuators currently available
@@ -176,6 +186,8 @@ private:
 	uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
 	uavcan::Publisher<uavcan::equipment::air_data::RawAirData> _raw_air_data_publisher;
 	uavcan::Publisher<uavcan::equipment::range_sensor::Measurement> _range_sensor_measurement;
+	uavcan::Publisher<com::volansi::equipment::adc::AnalogMeasurement> _analog_measurement_publisher;
+
 
 	hrt_abstime _last_static_temperature_publish{0};
 
@@ -192,6 +204,8 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
 	uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
+	uORB::SubscriptionCallbackWorkItem _analog_report_sub{this, ORB_ID(analog_measurement)};
+
 
 	perf_counter_t _cycle_perf;
 	perf_counter_t _interval_perf;

src/drivers/uavcannode/dsdl/com/volansi/equipment/adc/20201.AnalogMeasurement.uavcan

@@ -0,0 +1,7 @@
+uint3 UNITS_NONE = 0
+uint3 UNITS_MV 	 = 1
+uint3 UNITS_MA 	 = 2
+uint3 UNITS_CK 	 = 3
+uint3[4] unit_type
+
+int16[4] values

src/drivers/uavcannode/uavcannode_params.c

@@ -50,3 +50,17 @@ PARAM_DEFINE_INT32(CANNODE_NODE_ID, 120);
  * @group UAVCAN
  */
 PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
+
+/**
+ * Units associated with ADC measurement.
+ * 0 - unused
+ * 1 - mV
+ * 2 - mA
+ * 3 - cK
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ADC1_UNIT_TYPE, 1);
+PARAM_DEFINE_INT32(ADC2_UNIT_TYPE, 2);
+PARAM_DEFINE_INT32(ADC3_UNIT_TYPE, 0);
+PARAM_DEFINE_INT32(ADC4_UNIT_TYPE, 0);
+

src/modules/analog_measurement/CMakeLists.txt

@@ -0,0 +1,11 @@
+
+px4_add_module(
+	MODULE modules__analog_measurement
+	MAIN analog_measurement
+	COMPILE_FLAGS
+	SRCS
+		analog_measurement.cpp
+		analog_measurement.hpp
+	DEPENDS
+		px4_work_queue
+	)

src/modules/analog_measurement/analog_measurement.cpp

@@ -0,0 +1,153 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "analog_measurement.hpp"
+
+AnalogMeasurement::AnalogMeasurement() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{
+}
+
+bool
+AnalogMeasurement::init()
+{
+	if (!_adc_report_sub.registerCallback()) {
+		PX4_ERR("adc_report callback registration failed!");
+		return false;
+	}
+
+	return true;
+}
+
+void
+AnalogMeasurement::Run()
+{
+	if (should_exit()) {
+		_adc_report_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	adc_report_s report{};
+
+	if (_adc_report_sub.update(&report)) {
+
+		analog_measurement_s measurement{};
+
+		int adc1_unit = _adc1_unit.get();
+		int adc2_unit = _adc2_unit.get();
+		int adc3_unit = _adc3_unit.get();
+		int adc4_unit = _adc4_unit.get();
+
+		// TODO: determine size. Only read first 4 ADCs for now.
+		const float adc_raw_scale = report.v_ref / (float)report.resolution;
+
+		if (adc1_unit) {
+			measurement.values[0] = report.raw_data[0] * adc_raw_scale * _adc1_scale.get();
+			measurement.unit_type[0] = adc1_unit;
+		}
+
+		if (adc2_unit) {
+			measurement.values[1] = report.raw_data[1] * adc_raw_scale * _adc2_scale.get();
+			measurement.unit_type[1] = adc2_unit;
+		}
+
+		if (adc3_unit) {
+			measurement.values[2] = report.raw_data[2] * adc_raw_scale * _adc3_scale.get();
+			measurement.unit_type[2] = adc3_unit;
+		}
+
+		if (adc4_unit) {
+			measurement.values[3] = report.raw_data[3] * adc_raw_scale * _adc4_scale.get();
+			measurement.unit_type[3] = adc4_unit;
+		}
+
+		_analog_measurement_pub.publish(measurement);
+	}
+}
+
+int AnalogMeasurement::task_spawn(int argc, char *argv[])
+{
+	AnalogMeasurement *instance = new AnalogMeasurement();
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init()) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int AnalogMeasurement::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int AnalogMeasurement::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module reads the adc_report and converts the raw adc values into voltage,
+current, or temperature depending on the parameter ADC[N]_UNIT and applies the
+scale factor ADC[N]_SCALE.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("analog_measurement", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+int analog_measurement_main(int argc, char *argv[])
+{
+	return AnalogMeasurement::main(argc, argv);
+}

src/modules/analog_measurement/analog_measurement.hpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <matrix/matrix/math.hpp>
+
+#include <perf/perf_counter.h>
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
+
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/adc_report.h>
+#include <uORB/topics/analog_measurement.h>
+
+extern "C" __EXPORT int analog_measurement_main(int argc, char *argv[]);
+
+class AnalogMeasurement : public ModuleBase<AnalogMeasurement>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	AnalogMeasurement();
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+private:
+	void Run() override;
+
+
+	uORB::SubscriptionCallbackWorkItem _adc_report_sub{this, ORB_ID(adc_report)};
+
+	uORB::Publication<analog_measurement_s>	_analog_measurement_pub{ORB_ID(analog_measurement)};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::ADC1_SCALE>) _adc1_scale,
+		(ParamFloat<px4::params::ADC2_SCALE>) _adc2_scale,
+		(ParamFloat<px4::params::ADC3_SCALE>) _adc3_scale,
+		(ParamFloat<px4::params::ADC4_SCALE>) _adc4_scale,
+
+		(ParamInt<px4::params::ADC1_UNIT>) _adc1_unit,
+		(ParamInt<px4::params::ADC2_UNIT>) _adc2_unit,
+		(ParamInt<px4::params::ADC3_UNIT>) _adc3_unit,
+		(ParamInt<px4::params::ADC4_UNIT>) _adc4_unit
+	)
+};
+

src/modules/analog_measurement/analog_measurement_params.c

@@ -0,0 +1,25 @@
+/**
+ * Scale factor for ADC to convert raw to units
+ */
+PARAM_DEFINE_FLOAT(ADC1_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC2_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC3_SCALE, 1.0);
+PARAM_DEFINE_FLOAT(ADC4_SCALE, 1.0);
+
+/**
+ * Unit type:
+ * 0: none
+ * 1: mV
+ * 2: mA
+ * 3: cK
+ *
+ * @min 0
+ * @max 3
+ * @group Analog Measurement
+ */
+PARAM_DEFINE_INT32(ADC1_UNIT, 0);
+PARAM_DEFINE_INT32(ADC2_UNIT, 0);
+PARAM_DEFINE_INT32(ADC3_UNIT, 0);
+PARAM_DEFINE_INT32(ADC4_UNIT, 0);
+
+

src/modules/logger/logged_topics.cpp

@@ -49,6 +49,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("actuator_controls_1", 100);
 	add_topic("airspeed", 1000);
 	add_topic("airspeed_validated", 1000);
+	add_topic("analog_measurement", 100);
 	add_topic("camera_capture");
 	add_topic("camera_trigger");
 	add_topic("camera_trigger_secondary");