PX4Barometer.hpp

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#pragma once

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

class PX4Barometer : public cdev::CDev
{

public:
    PX4Barometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT);
    ~PX4Barometer() override;

    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(hrt_abstime timestamp, float pressure);

    void print_status();

private:

    uORB::PublicationMultiData<sensor_baro_s>   _sensor_baro_pub;

    int         _class_device_instance{-1};

};