sensors: add baro calibration and cleanup

- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting

.ci/Jenkinsfile-hardware

@@ -705,18 +705,21 @@ void quickCalibrate() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'
 
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }

msg/CMakeLists.txt

@@ -152,6 +152,7 @@ set(msg_files
 	sensor_preflight_mag.msg
 	sensor_selection.msg
 	sensors_status_imu.msg
+	sensors_status.msg
 	system_power.msg
 	takeoff_status.msg
 	task_stack_info.msg

msg/sensor_baro.msg

@@ -3,8 +3,10 @@ uint64 timestamp_sample
 
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
+float32 pressure          # static pressure measurement in Pascals
+
+float32 temperature       # temperature in degrees Celsius
+
 uint32 error_count
 
-float32 pressure	# static pressure measurement in millibar
-
-float32 temperature	# static temperature measurement in deg Celsius
+uint8 ORB_QUEUE_LENGTH = 4

msg/sensors_status.msg

@@ -0,0 +1,15 @@
+#
+# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
+#
+uint64 timestamp # time since system start (microseconds)
+
+uint32 device_id_primary       # current primary device id for reference
+
+uint32[4] device_ids
+float32[4] inconsistency       # magnitude of difference between sensor instance and mean
+bool[4] healthy                # sensor healthy
+uint8[4] priority
+bool[4] enabled
+bool[4] external
+
+# TOPICS sensors_status sensors_status_baro sensors_status_mag

msg/vehicle_air_data.msg

@@ -10,3 +10,5 @@ float32 baro_temp_celcius		# Temperature in degrees Celsius
 float32 baro_pressure_pa		# Absolute pressure in Pascals
 
 float32 rho				# air density
+
+uint8 calibration_count     # Calibration changed counter. Monotonically increases whenever calibration changes.

src/drivers/barometer/bmp280/BMP280.cpp

@@ -35,7 +35,6 @@
 
 BMP280::BMP280(const I2CSPIDriverConfig &config, bmp280::IBMP280 *interface) :
 	I2CSPIDriver(config),
-	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -172,11 +171,15 @@ BMP280::collect()
 	float pf = ((float) p_raw + x1) / x2;
 	const float P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7;
 
-	_px4_baro.set_error_count(perf_event_count(_comms_errors));
-	_px4_baro.set_temperature(T);
-
-	float pressure = P / 100.0f; // to mbar
-	_px4_baro.update(timestamp_sample, pressure);
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = P;
+	sensor_baro.temperature = T;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/bmp280/BMP280.hpp

@@ -39,7 +39,8 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 
 class BMP280 : public I2CSPIDriver<BMP280>
@@ -61,7 +62,7 @@ private:
 	int			measure(); //start measure
 	int			collect(); //get results and publish
 
-	PX4Barometer		_px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	bmp280::IBMP280		*_interface;
 

src/drivers/barometer/bmp280/CMakeLists.txt

@@ -42,6 +42,5 @@ px4_add_module(
 
 		bmp280_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/bmp388/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		bmp388.cpp
 		bmp388_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/bmp388/bmp388.cpp

@@ -43,7 +43,6 @@
 
 BMP388::BMP388(const I2CSPIDriverConfig &config, IBMP388 *interface) :
 	I2CSPIDriver(config),
-	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -165,14 +164,18 @@ BMP388::collect()
 		return -EIO;
 	}
 
-	_px4_baro.set_error_count(perf_event_count(_comms_errors));
-
 	float temperature = (float)(data.temperature / 100.0f);
 	float pressure = (float)(data.pressure / 100.0f); // to Pascal
-	pressure = pressure / 100.0f; // to mbar
 
-	_px4_baro.set_temperature(temperature);
-	_px4_baro.update(timestamp_sample, pressure);
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = pressure;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/bmp388/bmp388.h

@@ -44,7 +44,8 @@
 #include <perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 
 #include "board_config.h"
 
@@ -325,7 +326,7 @@ private:
 	static constexpr uint8_t			odr{BMP3_ODR_50_HZ};			// output data rate (not used)
 	static constexpr uint8_t			iir_coef{BMP3_IIR_FILTER_DISABLE};	// IIR coefficient
 
-	PX4Barometer		_px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 	IBMP388			*_interface{nullptr};
 
 	unsigned		_measure_interval{0};			// interval in microseconds needed to measure

src/drivers/barometer/dps310/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		DPS310_SPI.cpp
 		dps310_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/dps310/DPS310.cpp

@@ -48,7 +48,6 @@ static void getTwosComplement(T &raw, uint8_t length)
 
 DPS310::DPS310(const I2CSPIDriverConfig &config, device::Device *interface) :
 	I2CSPIDriver(config),
-	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
@@ -233,9 +232,15 @@ DPS310::RunImpl()
 
 	const float Tcomp = c0 * 0.5f + c1 * Traw_sc;
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-	_px4_barometer.set_temperature(Tcomp);
-	_px4_barometer.update(timestamp_sample, Pcomp / 100.0f); // Pascals -> Millibar
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = Pcomp;
+	sensor_baro.temperature = Tcomp;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 }

src/drivers/barometer/dps310/DPS310.hpp

@@ -40,7 +40,8 @@
 #pragma once
 
 #include <drivers/device/Device.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -79,7 +80,7 @@ private:
 
 	static constexpr uint32_t SAMPLE_RATE{32};
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	device::Device		*_interface;
 

src/drivers/barometer/goertek/spl06/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		SPL06_SPI.cpp
 		spl06_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/goertek/spl06/SPL06.cpp

@@ -35,7 +35,6 @@
 
 SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
 	I2CSPIDriver(config),
-	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
@@ -224,10 +223,16 @@ SPL06::collect()
 	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
 	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
 
-	_px4_baro.set_error_count(perf_event_count(_comms_errors));
-	_px4_baro.set_temperature(temperature);
-	_px4_baro.update(timestamp_sample, fp / 100.0f);   // to millbar
-	//PX4_DEBUG("%d",(int)fp);
+
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = fp;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
+
 	perf_end(_sample_perf);
 
 	return OK;

src/drivers/barometer/goertek/spl06/SPL06.hpp

@@ -39,8 +39,9 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/perf/perf_counter.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 
 class SPL06 : public I2CSPIDriver<SPL06>
 {
@@ -62,7 +63,7 @@ private:
 	int			collect(); //get results and publish
 	int			calibrate();
 
-	PX4Barometer		_px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	spl06::ISPL06		*_interface;
 	spl06::data_s		_data;

src/drivers/barometer/invensense/icp10100/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		ICP10100.hpp
 		icp10100_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/invensense/icp10100/ICP10100.cpp

@@ -37,8 +37,7 @@ using namespace time_literals;
 
 ICP10100::ICP10100(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config),
-	_px4_baro(get_device_id())
+	I2CSPIDriver(config)
 {
 }
 
@@ -236,12 +235,17 @@ ICP10100::RunImpl()
 
 				const hrt_abstime nowx = hrt_absolute_time();
 				float temperature = _temperature_C;
-				float pressure = _pressure_Pa; // to Pascal
-				pressure = pressure / 100.0f; // to mbar
+				float pressure = _pressure_Pa;
 
-				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
-				_px4_baro.set_temperature(temperature);
-				_px4_baro.update(nowx, pressure);
+				// publish
+				sensor_baro_s sensor_baro{};
+				sensor_baro.timestamp_sample = now;
+				sensor_baro.device_id = get_device_id();
+				sensor_baro.pressure = pressure;
+				sensor_baro.temperature = temperature;
+				sensor_baro.error_count = perf_event_count(_bad_transfer_perf);
+				sensor_baro.timestamp = hrt_absolute_time();
+				_sensor_baro_pub.publish(sensor_baro);
 
 				success = true;
 

src/drivers/barometer/invensense/icp10100/ICP10100.hpp

@@ -37,7 +37,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/i2c.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
@@ -69,7 +70,7 @@ private:
 	int send_command(Cmd cmd);
 	int send_command(Cmd cmd, uint8_t *data, uint8_t len);
 
-	PX4Barometer _px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};

src/drivers/barometer/invensense/icp10111/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		ICP10111.hpp
 		icp10111_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/invensense/icp10111/ICP10111.cpp

@@ -37,8 +37,7 @@ using namespace time_literals;
 
 ICP10111::ICP10111(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config),
-	_px4_baro(get_device_id())
+	I2CSPIDriver(config)
 {
 }
 
@@ -234,14 +233,18 @@ ICP10111::RunImpl()
 				float b = (_pcal[0] - a) * (s1 + c);
 				float _pressure_Pa = a + b / (c + _raw_p);
 
-				const hrt_abstime nowx = hrt_absolute_time();
 				float temperature = _temperature_C;
 				float pressure = _pressure_Pa; // to Pascal
-				pressure = pressure / 100.0f; // to mbar
 
-				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
-				_px4_baro.set_temperature(temperature);
-				_px4_baro.update(nowx, pressure);
+				// publish
+				sensor_baro_s sensor_baro{};
+				sensor_baro.timestamp_sample = now;
+				sensor_baro.device_id = get_device_id();
+				sensor_baro.pressure = pressure;
+				sensor_baro.temperature = temperature;
+				sensor_baro.error_count = perf_event_count(_bad_transfer_perf);
+				sensor_baro.timestamp = hrt_absolute_time();
+				_sensor_baro_pub.publish(sensor_baro);
 
 				success = true;
 

src/drivers/barometer/invensense/icp10111/ICP10111.hpp

@@ -37,7 +37,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/i2c.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
@@ -69,7 +70,7 @@ private:
 	int send_command(Cmd cmd);
 	int send_command(Cmd cmd, uint8_t *data, uint8_t len);
 
-	PX4Barometer _px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};

src/drivers/barometer/lps22hb/CMakeLists.txt

@@ -39,6 +39,5 @@ px4_add_module(
 		LPS22HB_I2C.cpp
 		LPS22HB_SPI.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -44,7 +44,6 @@
 
 LPS22HB::LPS22HB(const I2CSPIDriverConfig &config, device::Device *interface) :
 	I2CSPIDriver(config),
-	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
@@ -152,14 +151,23 @@ int LPS22HB::collect()
 
 	uint32_t TEMP_OUT = report.TEMP_OUT_L + (report.TEMP_OUT_H << 8);
 	float temperature = 42.5f + (TEMP_OUT / 480.0f);
-	_px4_baro.set_temperature(temperature);
 
 	// To obtain the pressure in hPa, take the two’s complement of the complete word and then divide by 4096 LSB/hPa.
 	uint32_t P = report.PRESS_OUT_XL + (report.PRESS_OUT_L << 8) + (report.PRESS_OUT_H << 16);
 
 	/* Pressure and MSL in mBar */
 	float pressure = P / 4096.0f;
-	_px4_baro.update(timestamp_sample, pressure);
+	float pressure_pa = pressure * 100.f;
+
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = pressure_pa;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 	return PX4_OK;

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -39,7 +39,8 @@
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 
 static constexpr uint8_t WHO_AM_I = 0x0F;
 static constexpr uint8_t LPS22HB_ID_WHO_AM_I = 0xB1;
@@ -92,7 +93,8 @@ public:
 	void			RunImpl();
 
 private:
-	PX4Barometer		_px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+
 	device::Device		*_interface;
 
 	bool			_collect_phase{false};

src/drivers/barometer/lps25h/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		lps25h_i2c.cpp
 		lps25h_spi.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/lps25h/LPS25H.cpp

@@ -35,7 +35,6 @@
 
 LPS25H::LPS25H(const I2CSPIDriverConfig &config, device::Device *interface) :
 	I2CSPIDriver(config),
-	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms_errors"))
@@ -162,19 +161,25 @@ int LPS25H::collect()
 		return ret;
 	}
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-
 	/* get measurements from the device */
 	float temperature = 42.5f + (report.t / 480);
-	_px4_barometer.set_temperature(temperature);
 
 	/* raw pressure */
 	uint32_t raw = report.p_xl + (report.p_l << 8) + (report.p_h << 16);
 
 	/* Pressure and MSL in mBar */
 	float pressure = raw / 4096.0f;
+	float pressure_pa = pressure * 100.f;
 
-	_px4_barometer.update(timestamp_sample, pressure);
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = pressure_pa;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 	return PX4_OK;

src/drivers/barometer/lps25h/LPS25H.hpp

@@ -43,7 +43,8 @@
 
 #include <drivers/device/Device.hpp>
 #include <lib/perf/perf_counter.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
 
@@ -176,7 +177,8 @@ private:
 	int			measure();
 	int			collect();
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+
 	device::Device		*_interface;
 
 	unsigned		_measure_interval{0};

src/drivers/barometer/lps33hw/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		lps33hw_spi.cpp
 		lps33hw_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/lps33hw/lps33hw.cpp

@@ -49,7 +49,6 @@ static void getTwosComplement(T &raw, uint8_t length)
 
 LPS33HW::LPS33HW(const I2CSPIDriverConfig &config, device::Device *interface) :
 	I2CSPIDriver(config),
-	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors")),
@@ -177,10 +176,17 @@ LPS33HW::RunImpl()
 		int32_t Praw = (int32_t)data[1] | (data[2] << 8) | (data[3] << 16);
 		getTwosComplement(Praw, 24);
 		float pressure_hPa = Praw / 4096.f;
+		float pressure_pa = pressure_hPa * 100.f;
 
-		_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-		_px4_barometer.set_temperature(temp);
-		_px4_barometer.update(timestamp_sample, pressure_hPa); // hPascals -> Millibar
+		// publish
+		sensor_baro_s sensor_baro{};
+		sensor_baro.timestamp_sample = timestamp_sample;
+		sensor_baro.device_id = _interface->get_device_id();
+		sensor_baro.pressure = pressure_pa;
+		sensor_baro.temperature = temp;
+		sensor_baro.error_count = perf_event_count(_comms_errors);
+		sensor_baro.timestamp = hrt_absolute_time();
+		_sensor_baro_pub.publish(sensor_baro);
 
 		perf_end(_sample_perf);
 		ScheduleDelayed(1000000 / SAMPLE_RATE);

src/drivers/barometer/lps33hw/lps33hw.hpp

@@ -40,7 +40,8 @@
 #pragma once
 
 #include <drivers/device/Device.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/i2c_spi_buses.h>
@@ -82,7 +83,7 @@ private:
 
 	static constexpr uint32_t SAMPLE_RATE{75};
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	device::Device		*_interface;
 

src/drivers/barometer/maiertek/mpc2520/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		MPC2520.cpp
 		MPC2520.hpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 )

src/drivers/barometer/maiertek/mpc2520/MPC2520.cpp

@@ -44,8 +44,7 @@ static constexpr int32_t combine(uint8_t h, uint8_t m, uint8_t l)
 
 MPC2520::MPC2520(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config),
-	_px4_baro(get_device_id())
+	I2CSPIDriver(config)
 {
 	//_debug_enabled = true;
 }
@@ -232,7 +231,6 @@ void MPC2520::RunImpl()
 				static constexpr float kT = 7864320; // temperature 8 times oversampling
 				float Traw_sc = static_cast<float>(Traw) / kT;
 				float Tcomp = _prom.c0 * 0.5f + _prom.c1 * Traw_sc;
-				_px4_baro.set_temperature(Tcomp);
 
 				int32_t Praw = (int32_t)(buffer.PSR_B2 << 16) | (int32_t)(buffer.PSR_B1 << 8) | (int32_t)buffer.PSR_B1;
 				Praw = (Praw & 0x800000) ? (0xFF000000 | Praw) : Praw;
@@ -244,9 +242,15 @@ void MPC2520::RunImpl()
 				float Pcomp = _prom.c00 + Praw_sc * (_prom.c10 + Praw_sc * (_prom.c20 + Praw_sc * _prom.c30)) + Traw_sc * _prom.c01 +
 					      Traw_sc * Praw_sc * (_prom.c11 + Praw_sc * _prom.c21);
 
-				float pressure_mbar = Pcomp / 100.0f; // convert to millibar
-
-				_px4_baro.update(now, pressure_mbar);
+				// publish
+				sensor_baro_s sensor_baro{};
+				sensor_baro.timestamp_sample = now;
+				sensor_baro.device_id = get_device_id();
+				sensor_baro.pressure = Pcomp;
+				sensor_baro.temperature = Tcomp;
+				sensor_baro.error_count = perf_event_count(_bad_transfer_perf) + perf_event_count(_bad_register_perf);
+				sensor_baro.timestamp = hrt_absolute_time();
+				_sensor_baro_pub.publish(sensor_baro);
 
 				success = true;
 

src/drivers/barometer/maiertek/mpc2520/MPC2520.hpp

@@ -37,7 +37,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/i2c.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 
@@ -76,7 +77,7 @@ private:
 	void RegisterWrite(Register reg, uint8_t value);
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 
-	PX4Barometer _px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};

src/drivers/barometer/mpl3115a2/CMakeLists.txt

@@ -40,6 +40,5 @@ px4_add_module(
 		MPL3115A2.cpp
 		mpl3115a2_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -55,7 +55,6 @@
 MPL3115A2::MPL3115A2(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
-	_px4_barometer(get_device_id()),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
@@ -260,9 +259,15 @@ int MPL3115A2::collect()
 	float T = (float) reading.temperature.b[1] + ((float)(reading.temperature.b[0]) / 16.0f);
 	float P = (float)(reading.pressure.q >> 8) + ((float)(reading.pressure.b[0]) / 4.0f);
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-	_px4_barometer.set_temperature(T);
-	_px4_barometer.update(timestamp_sample, P / 100.0f);
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = get_device_id();
+	sensor_baro.pressure = P;
+	sensor_baro.temperature = T;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/mpl3115a2/MPL3115A2.hpp

@@ -42,7 +42,8 @@
 #include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/log.h>
@@ -76,7 +77,7 @@ private:
 	int RegisterRead(uint8_t reg, void *data, unsigned count = 1);
 	int RegisterWrite(uint8_t reg, uint8_t data);
 
-	PX4Barometer _px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	bool _collect_phase{false};
 

src/drivers/barometer/ms5611/CMakeLists.txt

@@ -44,6 +44,5 @@ px4_add_module(
 	DEPENDS
 		cdev
 		drivers__device
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/ms5611/MS5611.hpp

@@ -34,7 +34,8 @@
 #pragma once
 
 #include <drivers/device/device.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -113,7 +114,7 @@ public:
 protected:
 	void print_status() override;
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	device::Device		*_interface;
 
@@ -127,6 +128,11 @@ protected:
 	int64_t			_OFF{0};
 	int64_t			_SENS{0};
 
+	bool _initialized{false};
+
+	float _last_pressure{NAN};
+	float _last_temperature{NAN};
+
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_measure_perf;
 	perf_counter_t		_comms_errors;

src/drivers/barometer/ms5611/ms5611.cpp

@@ -43,7 +43,6 @@
 
 MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
-	_px4_barometer(interface->get_device_id()),
 	_interface(interface),
 	_prom(prom_buf.s),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -108,15 +107,13 @@ MS5611::init()
 		}
 
 		/* state machine will have generated a report, copy it out */
-		const sensor_baro_s &brp = _px4_barometer.get();
-
 		if (_device_type == MS5607_DEVICE) {
-			if (brp.pressure < 520.0f) {
+			if (_last_pressure < 52'000.f) {
 				/* This is likely not this device, abort */
 				ret = -EINVAL;
 				break;
 
-			} else if (brp.pressure > 1500.0f) {
+			} else if (_last_pressure > 150'000.f) {
 				/* This is likely not this device, abort */
 				ret = -EINVAL;
 				break;
@@ -129,12 +126,10 @@ MS5611::init()
 		/* fall through */
 		case MS5611_DEVICE:
 			_interface->set_device_type(DRV_BARO_DEVTYPE_MS5611);
-			_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MS5611);
 			break;
 
 		case MS5607_DEVICE:
 			_interface->set_device_type(DRV_BARO_DEVTYPE_MS5607);
-			_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MS5607);
 			break;
 		}
 
@@ -144,6 +139,7 @@ MS5611::init()
 	}
 
 	if (ret == 0) {
+		_initialized = true;
 		start();
 	}
 
@@ -235,8 +231,6 @@ MS5611::measure()
 		perf_count(_comms_errors);
 	}
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-
 	perf_end(_measure_perf);
 
 	return ret;
@@ -321,16 +315,26 @@ MS5611::collect()
 			}
 		}
 
-		float temperature = TEMP / 100.0f;
-		_px4_barometer.set_temperature(temperature);
+		_last_temperature = TEMP / 100.0f;
 
 	} else {
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 15;
 
-		float pressure = P / 100.0f;		/* convert to millibar */
+		_last_pressure = P;
+
+		// publish
+		if (_initialized && PX4_ISFINITE(_last_pressure) && PX4_ISFINITE(_last_temperature)) {
+			sensor_baro_s sensor_baro{};
+			sensor_baro.timestamp_sample = timestamp_sample;
+			sensor_baro.device_id = _interface->get_device_id();
+			sensor_baro.pressure = P;
+			sensor_baro.temperature = _last_temperature;
+			sensor_baro.error_count = perf_event_count(_comms_errors);
+			sensor_baro.timestamp = hrt_absolute_time();
+			_sensor_baro_pub.publish(sensor_baro);
+		}
 
-		_px4_barometer.update(timestamp_sample, pressure);
 	}
 
 	/* update the measurement state machine */

src/drivers/barometer/ms5837/CMakeLists.txt

@@ -41,6 +41,5 @@ px4_add_module(
 		MS5837.cpp
 		MS5837.hpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/ms5837/MS5837.cpp

@@ -41,7 +41,6 @@
 MS5837::MS5837(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
-	_px4_barometer(get_device_id()),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": com_err"))
@@ -96,7 +95,7 @@ int MS5837::init()
 			break;
 		}
 
-		_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_MS5837);
+		set_device_type(DRV_BARO_DEVTYPE_MS5837);
 
 		ret = OK;
 
@@ -259,8 +258,6 @@ int MS5837::_measure()
 		perf_count(_comms_errors);
 	}
 
-	_px4_barometer.set_error_count(perf_event_count(_comms_errors));
-
 	perf_end(_measure_perf);
 
 	return ret;
@@ -331,17 +328,22 @@ int MS5837::_collect()
 		_OFF  -= OFF2;
 		_SENS -= SENS2;
 
-
-		float temperature = TEMP / 100.0f;
-		_px4_barometer.set_temperature(temperature);
+		_last_temperature = TEMP / 100.0f;
 
 	} else {
 		/* pressure calculation, result in Pa */
 		int32_t P = (((raw * _SENS) >> 21) - _OFF) >> 13;
 
-		float pressure = P / 10.0f;		/* convert to millibar */
 
-		_px4_barometer.update(timestamp_sample, pressure);
+		// publish
+		sensor_baro_s sensor_baro{};
+		sensor_baro.timestamp_sample = timestamp_sample;
+		sensor_baro.device_id = get_device_id();
+		sensor_baro.pressure = P;
+		sensor_baro.temperature = T;
+		sensor_baro.error_count = perf_event_count(_comms_errors);
+		sensor_baro.timestamp = hrt_absolute_time();
+		_sensor_baro_pub.publish(sensor_baro);
 	}
 
 	/* update the measurement state machine */
@@ -357,9 +359,6 @@ void MS5837::print_status()
 	I2CSPIDriverBase::print_status();
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
-
-	printf("pressure:         %f\n", (double)_px4_barometer.get().pressure);
-	printf("temperature:      %f\n", (double)_px4_barometer.get().temperature);
 }
 
 int MS5837::_read_prom()

src/drivers/barometer/ms5837/MS5837.hpp

@@ -35,7 +35,8 @@
 
 #include <drivers/device/device.h>
 #include <drivers/device/i2c.h>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -79,7 +80,7 @@ public:
 private:
 	int			probe() override;
 
-	PX4Barometer		_px4_barometer;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	ms5837::prom_u	   	_prom{};
 
@@ -90,6 +91,8 @@ private:
 	int64_t			_OFF{0};
 	int64_t			_SENS{0};
 
+	float _last_temperature{NAN};
+
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_measure_perf;
 	perf_counter_t		_comms_errors;

src/drivers/barometer/tcbp001ta/CMakeLists.txt

@@ -39,6 +39,5 @@ px4_add_module(
 		tcbp001ta_spi.cpp
 		tcbp001ta_main.cpp
 	DEPENDS
-		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/tcbp001ta/tcbp001ta.cpp

@@ -45,13 +45,11 @@
 
 TCBP001TA::TCBP001TA(tcbp001ta::ITCBP001TA *interface) :
 	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
-	_px4_baro(interface->get_device_id()),
 	_interface(interface),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
-	_px4_baro.set_device_type(DRV_BARO_DEVTYPE_TCBP001TA);
 }
 
 TCBP001TA::~TCBP001TA()
@@ -252,12 +250,15 @@ TCBP001TA::collect()
 			Praw_sc * _fcal.c01 +
 			Praw_sc * Praw_sc * (_fcal.c11 + Praw_sc * _fcal.c21);
 
-	_px4_baro.set_error_count(perf_event_count(_comms_errors));
-	_px4_baro.set_temperature(T);
-
-	float pressure = P / 100.0f; // to mbar
-	// PX4_INFO("press %f", double(pressure));
-	_px4_baro.update(timestamp_sample, pressure);
+	// publish
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = P;
+	sensor_baro.temperature = T;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
 
 	perf_end(_sample_perf);
 
@@ -270,8 +271,6 @@ TCBP001TA::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_measure_perf);
 	perf_print_counter(_comms_errors);
-
-	_px4_baro.print_status();
 }
 
 uint32_t

src/drivers/barometer/tcbp001ta/tcbp001ta.hpp

@@ -38,7 +38,8 @@
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/perf/perf_counter.h>
 
 class TCBP001TA : public px4::ScheduledWorkItem
@@ -63,7 +64,7 @@ private:
 	int			measure(); //start measure
 	int			collect(); //get results and publish
 
-	PX4Barometer		_px4_baro;
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
 
 	tcbp001ta::ITCBP001TA	*_interface;
 

src/drivers/barometer/tcbp001ta/tcbp001ta_spi.cpp

@@ -93,6 +93,7 @@ tcbp001ta_spi_interface(uint8_t busnum, uint32_t device)
 TCBP001TA_SPI::TCBP001TA_SPI(uint8_t bus, uint32_t device) :
 	SPI("TCBP001TA_SPI", nullptr, bus, device, SPIDEV_MODE3, 10 * 1000 * 1000)
 {
+	set_device_type(DRV_BARO_DEVTYPE_TCBP001TA);
 }
 
 uint8_t

src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp

@@ -100,7 +100,6 @@ ADIS16448::ADIS16448(const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
 	_drdy_gpio(config.drdy_gpio), // TODO: DRDY disabled
 	_px4_accel(get_device_id(), config.rotation),
-	_px4_baro(get_device_id()),
 	_px4_gyro(get_device_id(), config.rotation),
 	_px4_mag(get_device_id(), config.rotation)
 {
@@ -445,11 +444,18 @@ void ADIS16448::RunImpl()
 						const int16_t mag_z = (buffer.ZMAGN_OUT == INT16_MIN) ? INT16_MAX : -buffer.ZMAGN_OUT;
 						_px4_mag.update(timestamp_sample, mag_x, mag_y, mag_z);
 
-						_px4_baro.set_error_count(error_count);
-						_px4_baro.set_temperature(temperature);
 
 						float pressure_pa = buffer.BARO_OUT * 0.02f; // 20 μbar per LSB
-						_px4_baro.update(timestamp_sample, pressure_pa);
+
+						// publish baro
+						sensor_baro_s sensor_baro{};
+						sensor_baro.timestamp_sample = timestamp_sample;
+						sensor_baro.device_id = get_device_id();
+						sensor_baro.pressure = pressure_pa;
+						sensor_baro.temperature = temperature;
+						sensor_baro.error_count = error_count;
+						sensor_baro.timestamp = hrt_absolute_time();
+						_sensor_baro_pub.publish(sensor_baro);
 					}
 
 					success = true;

src/drivers/imu/analog_devices/adis16448/ADIS16448.hpp

@@ -45,9 +45,10 @@
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/spi.h>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/sensor_baro.h>
 #include <lib/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
@@ -98,10 +99,11 @@ private:
 	const spi_drdy_gpio_t _drdy_gpio;
 
 	PX4Accelerometer _px4_accel;
-	PX4Barometer _px4_baro;
 	PX4Gyroscope _px4_gyro;
 	PX4Magnetometer _px4_mag;
 
+	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+
 	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
 	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
 	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};