UAVCAN hygrometer sensor support

msg/CMakeLists.txt

@@ -145,6 +145,7 @@ set(msg_files
 	sensor_gyro.msg
 	sensor_gyro_fft.msg
 	sensor_gyro_fifo.msg
+	sensor_hygrometer.msg
 	sensor_mag.msg
 	sensor_preflight_mag.msg
 	sensor_selection.msg

msg/sensor_hygrometer.msg

@@ -0,0 +1,8 @@
+uint64 timestamp          # time since system start (microseconds)
+uint64 timestamp_sample
+
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+
+float32  temperature      # Temperature provided by sensor (Celcius)
+
+float32 humidity          # Humidity provided by sensor

src/drivers/uavcan/CMakeLists.txt

@@ -102,6 +102,7 @@ set(DSDLC_INPUTS
 	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
 	"${LIBUAVCAN_DIR}/dsdl/com"
 	"${LIBUAVCAN_DIR}/dsdl/cuav"
+	"${LIBUAVCAN_DIR}/dsdl/dronecan"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
@@ -163,6 +164,7 @@ px4_add_module(
 		sensors/gyro.cpp
 		sensors/cbat.cpp
 		sensors/ice_status.cpp
+		sensors/hygrometer.cpp
 
 	MODULE_CONFIG
 		module.yaml

src/drivers/uavcan/sensors/hygrometer.cpp

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "hygrometer.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/geo/geo.h>
+
+const char *const UavcanHygrometerBridge::NAME = "hygrometer_sensor";
+
+UavcanHygrometerBridge::UavcanHygrometerBridge(uavcan::INode &node) :
+	UavcanSensorBridgeBase("uavcan_hygrometer_sensor", ORB_ID(sensor_hygrometer)),
+	_sub_hygro(node)
+{
+}
+
+int UavcanHygrometerBridge::init()
+{
+	int res = _sub_hygro.start(HygroCbBinder(this, &UavcanHygrometerBridge::hygro_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+void UavcanHygrometerBridge::hygro_sub_cb(const uavcan::ReceivedDataStructure<dronecan::sensors::hygrometer::Hygrometer>
+		&msg)
+{
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+
+	sensor_hygrometer_s report{};
+	report.timestamp_sample = timestamp_sample;
+	report.device_id = 0; // TODO
+	report.temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+	report.humidity = msg.humidity;
+	report.timestamp = hrt_absolute_time();
+
+	publish(msg.getSrcNodeID().get(), &report);
+}

src/drivers/uavcan/sensors/hygrometer.hpp

@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 <uORB/topics/sensor_hygrometer.h>
+#include "sensor_bridge.hpp"
+
+#include <dronecan/sensors/hygrometer/Hygrometer.hpp>
+
+class UavcanHygrometerBridge : public UavcanSensorBridgeBase
+{
+public:
+	static const char *const NAME;
+
+	UavcanHygrometerBridge(uavcan::INode &node);
+
+	const char *get_name() const override { return NAME; }
+
+	int init() override;
+
+private:
+	void hygro_sub_cb(const uavcan::ReceivedDataStructure<dronecan::sensors::hygrometer::Hygrometer> &msg);
+
+	typedef uavcan::MethodBinder < UavcanHygrometerBridge *,
+		void (UavcanHygrometerBridge::*)
+		(const uavcan::ReceivedDataStructure<dronecan::sensors::hygrometer::Hygrometer> &) >
+		HygroCbBinder;
+
+	uavcan::Subscriber<dronecan::sensors::hygrometer::Hygrometer, HygroCbBinder> _sub_hygro;
+};

src/drivers/uavcan/sensors/sensor_bridge.cpp

@@ -38,18 +38,19 @@
 #include "sensor_bridge.hpp"
 #include <cassert>
 
-#include "differential_pressure.hpp"
+#include "accel.hpp"
+#include "airspeed.hpp"
 #include "baro.hpp"
 #include "battery.hpp"
-#include "airspeed.hpp"
-#include "gnss.hpp"
+#include "cbat.hpp"
+#include "differential_pressure.hpp"
 #include "flow.hpp"
-#include "mag.hpp"
-#include "rangefinder.hpp"
-#include "accel.hpp"
+#include "gnss.hpp"
 #include "gyro.hpp"
-#include "cbat.hpp"
+#include "hygrometer.hpp"
 #include "ice_status.hpp"
+#include "mag.hpp"
+#include "rangefinder.hpp"
 
 /*
  * IUavcanSensorBridge
@@ -107,6 +108,14 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 		list.add(new UavcanGnssBridge(node));
 	}
 
+	// hygrometer
+	int32_t uavcan_sub_hygro = 1;
+	param_get(param_find("UAVCAN_SUB_HYGRO"), &uavcan_sub_hygro);
+
+	if (uavcan_sub_hygro != 0) {
+		list.add(new UavcanHygrometerBridge(node));
+	}
+
 	// ice (internal combustion engine)
 	int32_t uavcan_sub_ice = 1;
 	param_get(param_find("UAVCAN_SUB_ICE"), &uavcan_sub_ice);

src/drivers/uavcan/uavcan_params.c

@@ -275,6 +275,18 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);
  */
 PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);
 
+/**
+ * subscription hygrometer
+ *
+ * Enable UAVCAN hygrometer subscriptions.
+ *  dronecan::sensors::hygrometer::Hygrometer
+ *
+ * @boolean
+ * @reboot_required true
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_SUB_HYGRO, 0);
+
 /**
  * subscription ICE
  *

src/drivers/uavcannode/CMakeLists.txt

@@ -102,6 +102,7 @@ set(DSDLC_INPUTS
 	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
 	"${LIBUAVCAN_DIR}/dsdl/com"
 	"${LIBUAVCAN_DIR}/dsdl/cuav"
+	"${LIBUAVCAN_DIR}/dsdl/dronecan"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")

src/modules/mavlink/mavlink_main.cpp

@@ -1497,15 +1497,16 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESC_STATUS", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 0.5f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
-		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
-		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
+		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
+		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 0.1f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HYGROMETER_SENSOR", 0.1f);
 		configure_stream_local("LOCAL_POSITION_NED", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f);
 		configure_stream_local("OBSTACLE_DISTANCE", 1.0f);
@@ -1558,14 +1559,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
-		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
+		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HYGROMETER_SENSOR", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
@@ -1627,6 +1629,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HYGROMETER_SENSOR", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
@@ -1662,6 +1665,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HYGROMETER_SENSOR", 0.1f);
 		configure_stream_local("RC_CHANNELS", 5.0f);
 		configure_stream_local("SERVO_OUTPUT_RAW_0", 1.0f);
 		configure_stream_local("SYS_STATUS", 5.0f);
@@ -1708,6 +1712,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HIGHRES_IMU", 50.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
+		configure_stream_local("HYGROMETER_SENSOR", 1.0f);
 		configure_stream_local("MAG_CAL_REPORT", 1.0f);
 		configure_stream_local("MANUAL_CONTROL", 5.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);

src/modules/mavlink/mavlink_messages.cpp

@@ -79,13 +79,14 @@
 #include "streams/GLOBAL_POSITION_INT.hpp"
 #include "streams/GPS_GLOBAL_ORIGIN.hpp"
 #include "streams/GPS_RAW_INT.hpp"
-#include "streams/GPS_STATUS.hpp"
 #include "streams/GPS_RTCM_DATA.hpp"
+#include "streams/GPS_STATUS.hpp"
 #include "streams/HEARTBEAT.hpp"
 #include "streams/HIGHRES_IMU.hpp"
 #include "streams/HIL_ACTUATOR_CONTROLS.hpp"
 #include "streams/HIL_STATE_QUATERNION.hpp"
 #include "streams/HOME_POSITION.hpp"
+#include "streams/HYGROMETER_SENSOR.hpp"
 #include "streams/LANDING_TARGET.hpp"
 #include "streams/LOCAL_POSITION_NED.hpp"
 #include "streams/MAG_CAL_REPORT.hpp"
@@ -420,6 +421,9 @@ static const StreamListItem streams_list[] = {
 #if defined(HOME_POSITION_HPP)
 	create_stream_list_item<MavlinkStreamHomePosition>(),
 #endif // HOME_POSITION_HPP
+#if defined(HYGROMETER_SENSOR_HPP)
+	create_stream_list_item<MavlinkStreamHygrometerSensor>(),
+#endif // HYGROMETER_SENSOR_HPP
 #if defined(SERVO_OUTPUT_RAW_HPP)
 	create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
 	create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),