feat(heater): heater-modul in cannode does now also publish pitot_temperature via raw-air-data,

pitot_temperature added to uORB-msg differential_pressure

boards/ark/fmu-v6s/init/rc.board_defaults

@@ -25,6 +25,6 @@ param set-default HEATER1_TEMP 10.0
 param set-default UAVCAN_ESC_IFACE 2
 
 # IIM42653 on SPI1
-param set-default HEATER1_IMU_ID 3014666
+param set-default HEATER1_SENS_ID 3014666
 
 safety_button start

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -26,12 +26,12 @@ param set-default UAVCAN_ESC_IFACE 2
 
 if ver hwtypecmp ARKV6X000
 then
-	param set-default HEATER1_IMU_ID 2818058
+	param set-default HEATER1_SENS_ID 2818058
 fi
 
 if ver hwtypecmp ARKV6X001
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default HEATER1_SENS_ID 3014666
 fi
 
 safety_button start

boards/ark/fpv/init/rc.board_defaults

@@ -22,7 +22,7 @@ param set-default HEATER1_TEMP 10.0
 
 if ver hwtypecmp ARKFPV000
 then
-	param set-default HEATER1_IMU_ID 3014666
+	param set-default HEATER1_SENS_ID 3014666
 fi
 
 param set-default BAT1_V_DIV 21.0

boards/ark/pi6x/init/rc.board_defaults

@@ -31,7 +31,7 @@ param set-default UAVCAN_ESC_IFACE 1
 if ver hwtypecmp ARKPI6X000
 then
 	# TODO: Add the correct sensor ID
-	param set-default HEATER1_IMU_ID 2490378
+	param set-default HEATER1_SENS_ID 2490378
 fi
 
 param set-default EKF2_MULTI_IMU 0

boards/cuav/x25-evo/init/rc.board_defaults

@@ -21,12 +21,12 @@ param set-default UAVCAN_SUB_GPS 1
 param set-default UAVCAN_SUB_BAT 1
 
 # IMU thermal control (multi-instance heater)
-# HEATER1_IMU_ID: 2818058(IIM42652 SPI1)
+# HEATER1_SENS_ID: 2818058(IIM42652 SPI1)
-# HEATER2_IMU_ID: 3014698(IIM42653 SPI5)
+# HEATER2_SENS_ID: 3014698(IIM42653 SPI5)
 param set-default SENS_EN_THERMAL 1
-param set-default HEATER1_IMU_ID 2818058
+param set-default HEATER1_SENS_ID 2818058
 param set-default HEATER1_TEMP 45
-param set-default HEATER2_IMU_ID 3014698
+param set-default HEATER2_SENS_ID 3014698
 param set-default HEATER2_TEMP 45
 
 # CUAV pwm voltage 3.3V/5V switch

boards/cuav/x25-super/init/rc.board_defaults

@@ -23,9 +23,9 @@ param set-default UAVCAN_SUB_BAT 1
 
 # IMU thermal control (multi-instance heater)
 param set-default SENS_EN_THERMAL 1
-param set-default HEATER1_IMU_ID 2818066
+param set-default HEATER1_SENS_ID 2818066
 param set-default HEATER1_TEMP 45
-param set-default HEATER2_IMU_ID 3014698
+param set-default HEATER2_SENS_ID 3014698
 param set-default HEATER2_TEMP 45
 
 # CUAV pwm voltage 3.3V/5V switch

boards/cuav/x7pro/init/rc.board_defaults

@@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default HEATER1_IMU_ID 6946850
+param set-default HEATER1_SENS_ID 6946850
 
 rgbled_pwm start
 safety_button start

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -12,6 +12,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default -s HEATER1_IMU_ID 2621474
+param set-default -s HEATER1_SENS_ID 2621474
 
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -18,7 +18,7 @@ ms5611 -s -b 4 start
 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
 	# We need to use the temperature of the first isolated IMU for heater control.
-	param set-default HEATER1_IMU_ID 2490402
+	param set-default HEATER1_SENS_ID 2490402
 
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
@@ -28,7 +28,7 @@ else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
 
-	param set-default HEATER1_IMU_ID 3407906
+	param set-default HEATER1_SENS_ID 3407906
 fi
 
 # SPI1, body-fixed

boards/narinfc/h7/init/rc.board_defaults

@@ -12,7 +12,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
 
-param set-default HEATER1_IMU_ID 6946850
+param set-default HEATER1_SENS_ID 6946850
 
 rgbled_pwm start
 safety_button start

boards/sky-drones/smartap-airlink/init/rc.board_defaults

@@ -10,7 +10,7 @@ param set-default SER_TEL2_BAUD 921600  	# 921600
 
 # Temperature stabilization
 param set-default SENS_EN_THERMAL 1 		# Enable heater
-param set-default HEATER1_IMU_ID 2359314 		# Heated IMU ID
+param set-default HEATER1_SENS_ID 2359314 	# Heated SENSOR ID
 
 # Battery scaling
 param set-default BAT1_N_CELLS 4

msg/DifferentialPressure.msg

@@ -9,4 +9,5 @@ uint64 timestamp_sample  # [us] Time of raw data capture
 uint32 device_id                  # [-] Unique device ID for the sensor that does not change between power cycles
 float32 differential_pressure_pa  # [Pa] Differential pressure reading (may be negative)
 float32 temperature               # [degC] [@invalid NaN if unknown] Temperature
+float32 pitot_temperature         # [degC] [@invalid NaN if unknown] Pitot temperature (if available)
 uint32 error_count                # [-] Number of errors detected by driver

src/drivers/differential_pressure/asp5033/ASP5033.cpp

@@ -243,6 +243,7 @@ int ASP5033::collect()
 
 
 		differential_pressure.temperature = _temperature ;
+		differential_pressure.pitot_temperature = NAN;
 		differential_pressure.error_count = perf_event_count(_comms_errors);
 		differential_pressure.timestamp = timestamp_sample;
 		_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/auav/AUAV_Differential.cpp

@@ -88,6 +88,7 @@ void AUAV_Differential::publish_pressure(const float pressure_p, const float tem
 	}
 
 	differential_pressure.temperature = temperature_c;
+	differential_pressure.pitot_temperature = NAN;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	_differential_pressure_pub.publish(differential_pressure);
 }

src/drivers/differential_pressure/ets/ETSAirspeed.cpp

@@ -123,6 +123,7 @@ int ETSAirspeed::collect()
 	}
 
 	differential_pressure.temperature = NAN;
+	differential_pressure.pitot_temperature = NAN;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();
 	_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/ms4515/MS4515.cpp

@@ -173,6 +173,7 @@ int MS4515::collect()
 		}
 
 		differential_pressure.temperature = temperature_c;
+		differential_pressure.pitot_temperature = NAN;
 		differential_pressure.error_count = perf_event_count(_comms_errors);
 		differential_pressure.timestamp = hrt_absolute_time();
 		_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/ms4525do/MS4525DO.cpp

@@ -210,6 +210,7 @@ void MS4525DO::RunImpl()
 					}
 
 					differential_pressure.temperature = temperature_c;
+					differential_pressure.pitot_temperature = NAN;
 					differential_pressure.error_count = perf_event_count(_comms_errors);
 					differential_pressure.timestamp = hrt_absolute_time();
 					_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/ms5525dso/MS5525DSO.cpp

@@ -318,6 +318,7 @@ int MS5525DSO::collect()
 	}
 
 	differential_pressure.temperature = temperature_c;
+	differential_pressure.pitot_temperature = NAN;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();
 	_differential_pressure_pub.publish(differential_pressure);

src/drivers/differential_pressure/sdp3x/SDP3X.cpp

@@ -197,6 +197,7 @@ int SDP3X::collect()
 	}
 
 	differential_pressure.temperature = temperature_c;
+	differential_pressure.pitot_temperature = NAN;
 	differential_pressure.error_count = perf_event_count(_comms_errors);
 	differential_pressure.timestamp = hrt_absolute_time();
 	_differential_pressure_pub.publish(differential_pressure);

src/drivers/heater/heater.cpp

@@ -112,8 +112,8 @@ Heater::Heater(uint8_t instance) :
 	char name[32];
 
 	// Dynamically locate the parameter handle corresponding to the current instance
-	snprintf(name, sizeof(name), "HEATER%u_IMU_ID", (unsigned)_instance);
+	snprintf(name, sizeof(name), "HEATER%u_SENS_ID", (unsigned)_instance);
-	_param_handles.imu_id = param_find(name); //
+	_param_handles.sens_id = param_find(name);
 
 	snprintf(name, sizeof(name), "HEATER%u_TEMP", (unsigned)_instance);
 	_param_handles.temp = param_find(name); //
@@ -316,7 +316,7 @@ void Heater::heater_on()
 
 bool Heater::initialize_topics()
 {
-	// Force a single read of the parameters to ensure _params.imu_id is already up to date.
+	// Force a single read of the parameters to ensure _params.sens_id is up to date.
 	update_params(true);
 
 	if (!_heater_initialized) {
@@ -324,7 +324,7 @@ bool Heater::initialize_topics()
 		return false;
 	}
 
-	const int32_t target = _params.imu_id;
+	const int32_t target = _params.sens_id;
 	const bool use_hygro = (_params.temp_src == heater_status_s::TEMPERATURE_SOURCE_HYGRO);
 
 	int8_t selected_instance = -1;
@@ -540,18 +540,18 @@ int Heater::start()
 {
 	update_params(true);
 
-	const int32_t target = _params.imu_id;
+	const int32_t target = _params.sens_id;
 
 	// Disabled instance
 	if (target < 0) {
-		PX4_INFO("heater %u disabled (HEATER%u_IMU_ID=%ld)",
+		PX4_INFO("heater %u disabled (HEATER%u_SENS_ID=%ld)",
 			 (unsigned)_instance, (unsigned)_instance, (long)target);
 		return PX4_OK;
 	}
 
 	// Auto-select only allowed for legacy single-heater setups
 	if ((target == 0) && (HEATER_NUM > 1)) {
-		PX4_INFO("heater %u disabled (HEATER%u_IMU_ID=0 not allowed when HEATER_NUM>1)",
+		PX4_INFO("heater %u disabled (HEATER%u_SENS_ID=0 not allowed when HEATER_NUM>1)",
 			 (unsigned)_instance, (unsigned)_instance);
 		return PX4_OK;
 	}
@@ -677,8 +677,8 @@ void Heater::update_params(const bool force)
 		_parameter_update_sub.copy(&param_update);
 
 		// update parameters from storage
-		if (_param_handles.imu_id != PARAM_INVALID) {
+		if (_param_handles.sens_id != PARAM_INVALID) {
-			param_get(_param_handles.imu_id, &_params.imu_id);
+			param_get(_param_handles.sens_id, &_params.sens_id);
 		}
 
 		if (_param_handles.temp != PARAM_INVALID) {

src/drivers/heater/heater.h

@@ -176,7 +176,7 @@ private:
 
 	volatile bool _should_exit{false};
 	struct {
-		param_t imu_id;
+		param_t sens_id;
 		param_t temp;
 		param_t temp_p;
 		param_t temp_i;
@@ -187,7 +187,7 @@ private:
 	} _param_handles;
 
 	struct {
-		int32_t imu_id;   // HEATER<i>_IMU_ID: <0 disable, 0 auto, >0 match device_id
+		int32_t sens_id;  // HEATER<i>_SENS_ID: <0 disable, 0 auto, >0 match device_id
 		float   temp;     // target temperature
 		float   temp_p;
 		float   temp_i;

src/drivers/heater/module.yaml

@@ -5,14 +5,15 @@ module_name: heater
 parameters:
     - group: Sensors
       definitions:
-        HEATER${i}_IMU_ID:
+        HEATER${i}_SENS_ID:
             description:
-                short: The ID of the IMU controlled by heater ${i}
+                short: Device ID of the temperature sensor read by heater ${i}
                 long: |
-                    Specifies the sensor device ID (DEVID) that this heater instance controls.
+                    Specifies the device ID of the temperature sensor whose readings
+                    heater ${i} uses for thermal control.
                     -1 disables this heater instance.
                     If set to 0, auto-select is only supported when HEATER_NUM == 1. On boards with multiple heater outputs,
-                    a valid DEVID must be configured for each heater to ensure a 1:1 mapping between heater output and IMU.
+                    a valid DEVID must be configured for each heater to ensure a 1:1 mapping between heater output and temperature sensor.
 
 
             type: int32
@@ -25,7 +26,7 @@ parameters:
             description:
                 short: Target temperature for heater ${i}
                 long: |
-                    Specify the target stable temperature (in degrees Celsius) for the IMU.
+                    Specify the target stable temperature (in degrees Celsius) for the sensor controlled by heater ${i}.
                     It is generally recommended to set this between 40°C and 60°C,
                     which must be higher than the maximum ambient temperature.
 
@@ -41,7 +42,7 @@ parameters:
 
         HEATER${i}_TEMP_FF:
             description:
-                short:  IMU heater controller ${i} feedforward value
+                short: Heater ${i} controller feedforward value
                 long: |
                     Used to predict the baseline power consumption required to maintain temperature,
                     helping to reduce adjustment time.
@@ -58,7 +59,7 @@ parameters:
 
         HEATER${i}_TEMP_I:
             description:
-                short: IMU heater controller ${i} integrator gain value
+                short: Heater ${i} controller integrator gain value
                 long: |
                     Integral gain is used to eliminate steady-state error,
                     ensuring that the temperature ultimately reaches the setpoint target.
@@ -75,7 +76,7 @@ parameters:
 
         HEATER${i}_TEMP_P:
             description:
-                short: IMU heater controller ${i} proportional gain value
+                short: Heater ${i} controller proportional gain value
                 long: |
                     The proportional gain determines how quickly the controller responds to temperature deviations.
 
@@ -109,11 +110,11 @@ parameters:
                 short: Temperature source for heater ${i}
                 long: |
                     Selects the sensor used as the temperature input for heater control.
-                    0 = IMU (sensor_accel temperature), 1 = Hygrometer (sensor_hygrometer temperature).
+                    0 = Accel (sensor_accel temperature), 1 = Hygrometer (sensor_hygrometer temperature).
 
             type: int32
             values:
-                0: IMU
+                0: Accel
                 1: Hygrometer
             reboot_required: true
             num_instances: *max_num_config_instances

src/drivers/uavcan/sensors/differential_pressure.cpp

@@ -78,14 +78,13 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
 		diff_press_pa = -1.0f * msg.differential_pressure;
 	}
 
-	float temperature_c = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius;
-
 	differential_pressure_s report{};
 	report.timestamp_sample = timestamp_sample;
 	report.device_id = make_uavcan_device_id(msg);
-	report.differential_pressure_pa = diff_press_pa;
-	report.temperature = temperature_c;
 	report.timestamp = hrt_absolute_time();
+	report.differential_pressure_pa = diff_press_pa;
+	report.temperature = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius;
+	report.pitot_temperature = msg.pitot_temperature + atmosphere::kAbsoluteNullCelsius;
 
 	publish(msg.getSrcNodeID().get(), &report);
 

src/drivers/uavcannode/Publishers/RawAirData.hpp

@@ -40,8 +40,11 @@
 #include <uavcan/equipment/air_data/RawAirData.hpp>
 
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/heater_status.h>
 #include <lib/atmosphere/atmosphere.h>
+#include <lib/parameters/param.h>
 
 namespace uavcannode
 {
@@ -58,6 +61,11 @@ public:
 		uavcan::Publisher<uavcan::equipment::air_data::RawAirData>(node)
 	{
 		this->setPriority(uavcan::TransferPriority::Default);
+		param_t h = param_find("CANNODE_PT_SENS");
+
+		if (h != PARAM_INVALID) {
+			param_get(h, &_heater_sensor_id);
+		}
 	}
 
 	void PrintInfo() override
@@ -72,6 +80,27 @@ public:
 
 	void BroadcastAnyUpdates() override
 	{
+		_heater_sensor_temp_current_k = NAN;
+
+		if (_heater_sensor_id > 0) {
+			for (auto &heater_sub : _heater_subs) {
+				heater_status_s heater_status{};
+
+				if (heater_sub.update(&heater_status) && (heater_status.device_id == (uint32_t)_heater_sensor_id)) {
+					_heater_sensor_temp_current_k = heater_status.temperature_sensor - atmosphere::kAbsoluteNullCelsius;
+					break;
+				}
+			}
+		}
+
+		if (PX4_ISFINITE(_heater_sensor_temp_current_k)) {
+			_heater_sensor_temp_last_k = _heater_sensor_temp_current_k;
+			_heater_sensor_temp_last_update_time = hrt_absolute_time();
+
+		} else if (hrt_elapsed_time(&_heater_sensor_temp_last_update_time) < 500_ms) {
+			_heater_sensor_temp_current_k = _heater_sensor_temp_last_k;
+		}
+
 		// differential_pressure -> uavcan::equipment::air_data::RawAirData
 		differential_pressure_s diff_press;
 
@@ -83,7 +112,7 @@ public:
 			raw_air_data.differential_pressure = diff_press.differential_pressure_pa;
 			raw_air_data.differential_pressure_sensor_temperature = diff_press.temperature - atmosphere::kAbsoluteNullCelsius;
 			raw_air_data.static_air_temperature = diff_press.temperature - atmosphere::kAbsoluteNullCelsius;
-			raw_air_data.pitot_temperature = NAN;
+			raw_air_data.pitot_temperature = _heater_sensor_temp_current_k;
 			// raw_air_data.covariance
 			uavcan::Publisher<uavcan::equipment::air_data::RawAirData>::broadcast(raw_air_data);
 
@@ -91,5 +120,13 @@ public:
 			uORB::SubscriptionCallbackWorkItem::registerCallback();
 		}
 	}
+
+private:
+
+	uORB::SubscriptionMultiArray<heater_status_s> _heater_subs{ORB_ID::heater_status};
+	int32_t _heater_sensor_id{0};
+	float _heater_sensor_temp_current_k{NAN};
+	float _heater_sensor_temp_last_k{NAN};
+	hrt_abstime _heater_sensor_temp_last_update_time{0};
 };
 } // namespace uavcannode

src/drivers/uavcannode/uavcannode_params.yaml

@@ -67,3 +67,14 @@ parameters:
       default: 1
       max: 1
       reboot_required: true
+
+    CANNODE_PT_SENS:
+      description:
+        short: Temperature sensor device ID for pitot temperature
+        long: |-
+          Device ID of the temperature sensor (HEATER*_SENS_ID) whose value
+          is published as pitot_temperature in uavcan::equipment::air_data::RawAirData.
+          Set to 0 to disable (RawAirData.pitot_temperature set to NaN).
+      type: int32
+      default: 0
+      reboot_required: true

src/lib/parameters/param_translation.cpp

@@ -244,5 +244,20 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2026-06-22: translate HEATER*_IMU_ID to HEATER*_SENS_ID
+	//	HEATER_MAX_INSTANCES == 3 (in heater.h)
+	{
+		if ((node->type == bson_type_t::BSON_INT32) && (strncmp("HEATER", node->name, 6) == 0)
+		    && strstr(node->name, "_IMU_ID") != nullptr) {
+			char old_name[BSON_MAXNAME];
+			strncpy(old_name, node->name, sizeof(old_name));
+			char new_name[16];
+			snprintf(new_name, sizeof(new_name), "HEATER%c_SENS_ID", node->name[6]);
+			strcpy(node->name, new_name);
+			PX4_INFO("migrating %s -> %s", old_name, new_name);
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+	}
+
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }

src/modules/mavlink/mavlink_receiver.cpp

@@ -2580,6 +2580,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		report.timestamp_sample = timestamp;
 		report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
 		report.temperature = hil_sensor.temperature;
+		report.pitot_temperature = NAN;
 		report.differential_pressure_pa = hil_sensor.diff_pressure * 100.0f; // hPa to Pa
 		report.timestamp = hrt_absolute_time();
 		_differential_pressure_pub.publish(report);

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -425,6 +425,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &msg)
 	report.differential_pressure_pa = msg.diff_pressure(); // hPa to Pa;
 	_temperature = static_cast<float>(msg.temperature()) + atmosphere::kAbsoluteNullCelsius; // K to C
 	report.temperature = _temperature;
+	report.pitot_temperature = NAN;
 	_differential_pressure_pub.publish(report);
 }
 

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -164,6 +164,7 @@ void SensorAirspeedSim::Run()
 			differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
 			differential_pressure.differential_pressure_pa = _last_differential_pressure_pa;
 			differential_pressure.temperature = temperature_local + ABSOLUTE_ZERO_C; // K to C
+			differential_pressure.pitot_temperature = NAN;
 			differential_pressure.timestamp = hrt_absolute_time();
 			_differential_pressure_pub.publish(differential_pressure);
 		}

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -342,6 +342,7 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
 		report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
 		report.differential_pressure_pa = sensors.diff_pressure * 100.f * airspeed_blockage_scale; // hPa to Pa;
 		report.temperature = _sensors_temperature;
+		report.pitot_temperature = NAN;
 		report.timestamp = hrt_absolute_time();
 		_differential_pressure_pub.publish(report);
 	}