feat(baro): add PX4Barometer wrapper and migrate barometer drivers (#27580)

* feat(baro): refactor barometer drivers to use PX4Barometer class

* fix(baro): incoperated feedback

* feat(baro): initialize PX4Barometer with device ID in barometer drivers

* fix(baro): set default temperature to 15°C in PX4Barometer constructor

* fix(baro): clarify default temperature comment in PX4Barometer constructor

---------

Co-authored-by: Claudio Chies <chiesc@chies.com>

src/drivers/barometer/bmp280/BMP280.cpp

@@ -35,6 +35,7 @@
 
 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")),
@@ -176,14 +177,9 @@ BMP280::collect()
 	const float P = (pf * _fcal.p9 + _fcal.p8) * pf + _fcal.p7;
 
 	// 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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(T);
+	_px4_baro.update(timestamp_sample, P);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/bmp280/BMP280.hpp

@@ -36,6 +36,7 @@
 #include "bmp280.h"
 
 #include <drivers/drv_hrt.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -62,7 +63,7 @@ private:
 	int			measure(); //start measure
 	int			collect(); //get results and publish
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	bmp280::IBMP280		*_interface;
 

src/drivers/barometer/bmp280/CMakeLists.txt

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

src/drivers/barometer/bmp388/CMakeLists.txt

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

src/drivers/barometer/bmp388/bmp388.cpp

@@ -43,6 +43,7 @@
 
 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")),
@@ -83,6 +84,9 @@ BMP388::init()
 		this->_item_name = "bmp390";
 	}
 
+	// device type may have been refined above (BMP388 vs BMP390); latch the final device id
+	_px4_baro.set_device_id(_interface->get_device_id());
+
 	if (_interface->get_reg(BMP3_REV_ID_ADDR, &_chip_rev_id) != OK) {
 		PX4_WARN("failed to get chip rev id");
 		return -EIO;
@@ -188,14 +192,9 @@ BMP388::collect()
 	float pressure = (float)(data.pressure / 100.0f); // to Pascal
 
 	// 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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, pressure);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/bmp388/bmp388.h

@@ -41,6 +41,7 @@
 #include <math.h>
 #include <drivers/drv_hrt.h>
 #include <lib/cdev/CDev.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -330,7 +331,7 @@ 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
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 	IBMP388			*_interface{nullptr};
 
 	unsigned		_measure_interval{0};			// interval in microseconds needed to measure

src/drivers/barometer/bmp581/CMakeLists.txt

@@ -40,5 +40,6 @@ px4_add_module(
 		bmp581.cpp
 		bmp581_main.cpp
 	DEPENDS
+		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/bmp581/bmp581.cpp

@@ -36,6 +36,7 @@
 
 BMP581::BMP581(const I2CSPIDriverConfig &config, IBMP581 *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")),
@@ -157,14 +158,9 @@ int BMP581::collect()
 	}
 
 	//publish
-	sensor_baro_s sensor_baro{};
-	sensor_baro.timestamp_sample = timestamp_sample;
-	sensor_baro.device_id = _interface->get_device_id();
-	sensor_baro.pressure = data.pressure;
-	sensor_baro.temperature = data.temperature;
-	sensor_baro.error_count = perf_event_count(_comms_errors);
-	sensor_baro.timestamp = hrt_absolute_time();
-	_sensor_baro_pub.publish(sensor_baro);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(data.temperature);
+	_px4_baro.update(timestamp_sample, data.pressure);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/bmp581/bmp581.h

@@ -41,6 +41,7 @@
 #include <math.h>
 #include <drivers/drv_hrt.h>
 #include <lib/cdev/CDev.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -282,7 +283,7 @@ private:
 	static constexpr uint8_t	INTERRUPT_POLARITY{BMP5_INT_POL_ACTIVE_HIGH};
 	static constexpr uint8_t 	INTERRUPT_DRIVE{BMP5_INT_OD_PUSHPULL};
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 	IBMP581 		*_interface{nullptr};
 
 	unsigned		_measure_interval{0};			// interval in microseconds needed to measure

src/drivers/barometer/dps310/CMakeLists.txt

@@ -41,5 +41,6 @@ px4_add_module(
 		dps310_main.cpp
 	DEPENDS
 		drivers__device
+		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/dps310/DPS310.cpp

@@ -48,6 +48,7 @@ static void getTwosComplement(T &raw, uint8_t length)
 
 DPS310::DPS310(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": comm errors"))
@@ -233,14 +234,9 @@ DPS310::RunImpl()
 	const float Tcomp = c0 * 0.5f + c1 * Traw_sc;
 
 	// 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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(Tcomp);
+	_px4_baro.update(timestamp_sample, Pcomp);
 
 	perf_end(_sample_perf);
 }

src/drivers/barometer/dps310/DPS310.hpp

@@ -40,6 +40,7 @@
 #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>
@@ -80,7 +81,7 @@ private:
 
 	static constexpr uint32_t SAMPLE_RATE{32};
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	device::Device		*_interface;
 

src/drivers/barometer/goertek/spa06/CMakeLists.txt

@@ -43,5 +43,6 @@ px4_add_module(
 	MODULE_CONFIG
 		parameters.yaml
 	DEPENDS
+		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/goertek/spa06/SPA06.cpp

@@ -35,6 +35,7 @@
 
 SPA06::SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *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")),
@@ -235,14 +236,9 @@ SPA06::collect()
 	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
 
 
-	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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, fp);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/goertek/spa06/SPA06.hpp

@@ -40,6 +40,7 @@
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/perf/perf_counter.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_baro.h>
 
@@ -63,7 +64,7 @@ private:
 	int			collect(); //get results and publish
 	int			calibrate();
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	spa06::ISPA06		*_interface;
 	spa06::data_s		_data;

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

@@ -43,5 +43,6 @@ px4_add_module(
 	MODULE_CONFIG
 		parameters.yaml
 	DEPENDS
+		drivers_barometer
 		px4_work_queue
 	)

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

@@ -35,6 +35,7 @@
 
 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")),
@@ -224,14 +225,9 @@ SPL06::collect()
 	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
 
 
-	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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, fp);
 
 	perf_end(_sample_perf);
 

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

@@ -40,6 +40,7 @@
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/perf/perf_counter.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_baro.h>
 
@@ -63,7 +64,7 @@ private:
 	int			collect(); //get results and publish
 	int			calibrate();
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	spl06::ISPL06		*_interface;
 	spl06::data_s		_data;

src/drivers/barometer/invensense/icp101xx/CMakeLists.txt

@@ -41,5 +41,6 @@ px4_add_module(
 		ICP101XX.hpp
 		icp101xx_main.cpp
 	DEPENDS
+		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/invensense/icp101xx/ICP101XX.cpp

@@ -37,7 +37,8 @@ using namespace time_literals;
 
 ICP101XX::ICP101XX(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config)
+	I2CSPIDriver(config),
+	_px4_baro{get_device_id()}
 {
 }
 
@@ -237,14 +238,9 @@ ICP101XX::RunImpl()
 				float pressure = _pressure_Pa;
 
 				// 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);
+				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
+				_px4_baro.set_temperature(temperature);
+				_px4_baro.update(now, pressure);
 
 				success = true;
 

src/drivers/barometer/invensense/icp101xx/ICP101XX.hpp

@@ -37,6 +37,7 @@
 
 #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>
@@ -70,7 +71,7 @@ private:
 	int send_command(Cmd cmd);
 	int send_command(Cmd cmd, uint8_t *data, uint8_t len);
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_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/icp201xx/CMakeLists.txt

@@ -41,5 +41,6 @@ px4_add_module(
 		ICP201XX.hpp
 		icp201xx_main.cpp
 	DEPENDS
+		drivers_barometer
 		px4_work_queue
 	)

src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp

@@ -38,7 +38,8 @@ using namespace time_literals;
 
 ICP201XX::ICP201XX(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config)
+	I2CSPIDriver(config),
+	_px4_baro{get_device_id()}
 {
 }
 
@@ -304,14 +305,9 @@ ICP201XX::RunImpl()
 				perf_end(_sample_perf);
 				perf_begin(_sample_perf);
 
-				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);
+				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
+				_px4_baro.set_temperature(temperature);
+				_px4_baro.update(now, pressure);
 
 				success = true;
 

src/drivers/barometer/invensense/icp201xx/ICP201XX.hpp

@@ -37,6 +37,7 @@
 
 #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>
@@ -72,7 +73,7 @@ private:
 	bool flush_fifo();
 	bool configure();
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_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

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

src/drivers/barometer/lps22hb/LPS22HB.cpp

@@ -44,6 +44,7 @@
 
 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"))
@@ -164,14 +165,9 @@ int LPS22HB::collect()
 	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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, pressure_pa);
 
 	perf_end(_sample_perf);
 	return PX4_OK;

src/drivers/barometer/lps22hb/LPS22HB.hpp

@@ -36,6 +36,7 @@
 #include <cstring>
 
 #include <drivers/device/Device.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -93,7 +94,7 @@ public:
 	void			RunImpl();
 
 private:
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	device::Device		*_interface;
 

src/drivers/barometer/lps25h/CMakeLists.txt

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

src/drivers/barometer/lps25h/LPS25H.cpp

@@ -35,6 +35,7 @@
 
 LPS25H::LPS25H(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"))
@@ -176,14 +177,9 @@ int LPS25H::collect()
 	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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, pressure_pa);
 
 	perf_end(_sample_perf);
 	return PX4_OK;

src/drivers/barometer/lps25h/LPS25H.hpp

@@ -42,6 +42,7 @@
 #include "lps25h.h"
 
 #include <drivers/device/Device.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
 #include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_baro.h>
@@ -177,7 +178,7 @@ private:
 	int			measure();
 	int			collect();
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	device::Device		*_interface;
 

src/drivers/barometer/lps33hw/CMakeLists.txt

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

src/drivers/barometer/lps33hw/lps33hw.cpp

@@ -49,6 +49,7 @@ static void getTwosComplement(T &raw, uint8_t length)
 
 LPS33HW::LPS33HW(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": comm errors")),
@@ -179,14 +180,9 @@ LPS33HW::RunImpl()
 		float pressure_pa = pressure_hPa * 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 = temp;
-		sensor_baro.error_count = perf_event_count(_comms_errors);
-		sensor_baro.timestamp = hrt_absolute_time();
-		_sensor_baro_pub.publish(sensor_baro);
+		_px4_baro.set_error_count(perf_event_count(_comms_errors));
+		_px4_baro.set_temperature(temp);
+		_px4_baro.update(timestamp_sample, pressure_pa);
 
 		perf_end(_sample_perf);
 		ScheduleDelayed(1000000 / SAMPLE_RATE);

src/drivers/barometer/lps33hw/lps33hw.hpp

@@ -40,6 +40,7 @@
 #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>
@@ -83,7 +84,7 @@ private:
 
 	static constexpr uint32_t SAMPLE_RATE{75};
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	device::Device		*_interface;
 

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

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

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

@@ -44,7 +44,8 @@ static constexpr int32_t combine(uint8_t h, uint8_t m, uint8_t l)
 
 MPC2520::MPC2520(const I2CSPIDriverConfig &config) :
 	I2C(config),
-	I2CSPIDriver(config)
+	I2CSPIDriver(config),
+	_px4_baro{get_device_id()}
 {
 	//_debug_enabled = true;
 }
@@ -243,14 +244,9 @@ void MPC2520::RunImpl()
 					      Traw_sc * Praw_sc * (_prom.c11 + Praw_sc * _prom.c21);
 
 				// 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);
+				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf) + perf_event_count(_bad_register_perf));
+				_px4_baro.set_temperature(Tcomp);
+				_px4_baro.update(now, Pcomp);
 
 				success = true;
 

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

@@ -37,6 +37,7 @@
 
 #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>
@@ -77,7 +78,7 @@ private:
 	void RegisterWrite(Register reg, uint8_t value);
 	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_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

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

src/drivers/barometer/mpl3115a2/MPL3115A2.cpp

@@ -56,6 +56,7 @@
 MPL3115A2::MPL3115A2(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
+	_px4_baro{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"))
@@ -268,14 +269,9 @@ int MPL3115A2::collect()
 	float P = (float)(reading.pressure.q >> 8) + ((float)(reading.pressure.b[0]) / 4.0f);
 
 	// 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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(T);
+	_px4_baro.update(timestamp_sample, P);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/mpl3115a2/MPL3115A2.hpp

@@ -42,6 +42,7 @@
 #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>
@@ -77,7 +78,7 @@ private:
 	int RegisterRead(uint8_t reg, void *data, unsigned count = 1);
 	int RegisterWrite(uint8_t reg, uint8_t data);
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	bool _collect_phase{false};
 

src/drivers/barometer/ms5611/CMakeLists.txt

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

src/drivers/barometer/ms5611/MS5611.hpp

@@ -34,6 +34,7 @@
 #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>
@@ -115,7 +116,7 @@ public:
 protected:
 	void print_status() override;
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	device::Device		*_interface;
 

src/drivers/barometer/ms5611/ms5611.cpp

@@ -43,6 +43,7 @@
 
 MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const I2CSPIDriverConfig &config) :
 	I2CSPIDriver(config),
+	_px4_baro{interface->get_device_id()},
 	_interface(interface),
 	_prom(prom_buf.s),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -133,6 +134,9 @@ MS5611::init()
 			break;
 		}
 
+		// device type was just refined (MS5611 vs MS5607); latch the final device id
+		_px4_baro.set_device_id(_interface->get_device_id());
+
 		ret = OK;
 
 		break;
@@ -342,14 +346,9 @@ MS5611::collect()
 
 		// 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_baro.set_error_count(perf_event_count(_comms_errors));
+			_px4_baro.set_temperature(_last_temperature);
+			_px4_baro.update(timestamp_sample, P);
 		}
 
 	}

src/drivers/barometer/ms5837/CMakeLists.txt

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

src/drivers/barometer/ms5837/MS5837.cpp

@@ -41,6 +41,7 @@
 MS5837::MS5837(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
+	_px4_baro{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"))
@@ -340,14 +341,9 @@ int MS5837::_collect()
 		int32_t pressure_pascal = ((((raw * _SENS) >> 21) - _OFF) >> 13) * 10;
 
 		// publish
-		sensor_baro_s sensor_baro{};
-		sensor_baro.timestamp_sample = timestamp_sample;
-		sensor_baro.device_id = get_device_id();
-		sensor_baro.pressure = pressure_pascal;
-		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_baro.set_error_count(perf_event_count(_comms_errors));
+		_px4_baro.set_temperature(_last_temperature);
+		_px4_baro.update(timestamp_sample, pressure_pascal);
 	}
 
 	/* update the measurement state machine */

src/drivers/barometer/ms5837/MS5837.hpp

@@ -35,6 +35,7 @@
 
 #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>
@@ -80,7 +81,7 @@ public:
 private:
 	int			probe() override;
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	ms5837::prom_u	   	_prom{};
 

src/drivers/barometer/tcbp001ta/CMakeLists.txt

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

src/drivers/barometer/tcbp001ta/tcbp001ta.cpp

@@ -45,6 +45,7 @@
 
 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")),
@@ -251,14 +252,9 @@ TCBP001TA::collect()
 			Praw_sc * Praw_sc * (_fcal.c11 + Praw_sc * _fcal.c21);
 
 	// 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);
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(T);
+	_px4_baro.update(timestamp_sample, P);
 
 	perf_end(_sample_perf);
 

src/drivers/barometer/tcbp001ta/tcbp001ta.hpp

@@ -38,6 +38,7 @@
 #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>
@@ -64,7 +65,7 @@ private:
 	int			measure(); //start measure
 	int			collect(); //get results and publish
 
-	uORB::PublicationMulti<sensor_baro_s> _sensor_baro_pub{ORB_ID(sensor_baro)};
+	PX4Barometer _px4_baro;
 
 	tcbp001ta::ITCBP001TA	*_interface;
 

src/lib/drivers/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_subdirectory(accelerometer)
+add_subdirectory(barometer)
 add_subdirectory(device)
 add_subdirectory(gyroscope)
 add_subdirectory(led)

src/lib/drivers/barometer/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2026 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.
+#
+############################################################################
+
+px4_add_library(drivers_barometer PX4Barometer.cpp)