UAVCAN Barometer driver fix - reporting temperature in Celsius degrees, not in Kelvin

src/modules/uavcan/sensors/baro.cpp

@@ -46,9 +46,7 @@ UavcanBarometerBridge::UavcanBarometerBridge(uavcan::INode &node) :
 	_sub_air_pressure_data(node),
 	_sub_air_temperature_data(node),
 	_reports(nullptr)
-{
-	last_temperature = 0.0f;
-}
+{ }
 
 int UavcanBarometerBridge::init()
 {
@@ -154,7 +152,7 @@ int UavcanBarometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
 void UavcanBarometerBridge::air_temperature_sub_cb(const
 		uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature> &msg)
 {
-	last_temperature = msg.static_temperature;
+	last_temperature_kelvin = msg.static_temperature;
 }
 
 void UavcanBarometerBridge::air_pressure_sub_cb(const
@@ -163,7 +161,7 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
 	baro_report report;
 
 	report.timestamp   = msg.getMonotonicTimestamp().toUSec();
-	report.temperature = last_temperature;
+	report.temperature = last_temperature_kelvin - 273.15F;
 	report.pressure    = msg.static_pressure / 100.0F;  // Convert to millibar
 	report.error_count = 0;
 

src/modules/uavcan/sensors/baro.hpp

@@ -77,6 +77,6 @@ private:
 	uavcan::Subscriber<uavcan::equipment::air_data::StaticTemperature, AirTemperatureCbBinder> _sub_air_temperature_data;
 	unsigned _msl_pressure = 101325;
 	RingBuffer  *_reports;
-	float last_temperature;
+	float last_temperature_kelvin = 0.0;
 
 };