Hello again everyone, I was going through some of the NuttX documentation for UORB again since InSpace is using it in our applications and also to mock our sensors to see our system response in different scenarios (we are planning to use a modified fakesensor example).
I noticed an intriguing application mentioned in the documentation that it would be possible to create a UORB node that subscribes to other sensor nodes and performs fusion/creates a new output. The docs mention PX4's use of this and links to this graph: https://docs.px4.io/main/en/middleware/uorb_graph.html For our application, we would be doing things such as calculating altitude from barometer data, or roll/pitch/yaw measurements from IMU + magnetometer data. I am thinking that such a node might become useful for other NuttX users, but I'm not sure where in the source tree it would live (or if it belongs there). It's not a sensor so I don't think it would go in `drivers/sensors`, but I'm not too sure. My reasoning is that since a "barometer topic" under UORB has a standard interface, it would be possible to register a altitude fusion node which pulls from any barometer node, irregardless of the barometer type. If the user needs to add more configuration to the barometer, they could use `orb_ioctl` commands to modify the sensor settings from their application and these changes would bubble up to any fusion nodes. What are your thoughts on this? Would something like this be beneficial for NuttX? -- Matteo Golin
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