PX4Barometer.hpp 2.46 KB
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#pragma once

#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_baro.h>

class PX4Barometer
{
public:
	PX4Barometer(uint32_t device_id);
	~PX4Barometer();

	const sensor_baro_s &get() { return _sensor_baro_pub.get(); }

	void set_device_type(uint8_t devtype);
	void set_error_count(uint64_t error_count) { _sensor_baro_pub.get().error_count = error_count; }

	void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; }

	void update(const hrt_abstime &timestamp_sample, float pressure);

	int get_instance() { return _sensor_baro_pub.get_instance(); };

private:

	uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
};