AP_Baro: MS56XX: cosmetic changes to members

- reorder and document members.
    - remove tentative of vertical alignement
    - like was done for accumulated values, move the calibration
      values to a struct

libraries/AP_Baro/AP_Baro_MS5611.cpp

@@ -90,12 +90,12 @@ void AP_Baro_MS56XX::_init()
     }
 
     // Save factory calibration coefficients
-    _c1 = prom[1];
-    _c2 = prom[2];
-    _c3 = prom[3];
-    _c4 = prom[4];
-    _c5 = prom[5];
-    _c6 = prom[6];
+    _cal_reg.c1 = prom[1];
+    _cal_reg.c2 = prom[2];
+    _cal_reg.c3 = prom[3];
+    _cal_reg.c4 = prom[4];
+    _cal_reg.c5 = prom[5];
+    _cal_reg.c6 = prom[6];
 
     // Send a command to read temperature first
     _dev->transfer(&ADDR_CMD_CONVERT_TEMPERATURE, 1, nullptr, 0);
@@ -328,10 +328,10 @@ void AP_Baro_MS5611::_calculate()
     // we do the calculations using floating point allows us to take advantage
     // of the averaging of D1 and D1 over multiple samples, giving us more
     // precision
-    dT = _D2-(((uint32_t)_c5)<<8);
-    TEMP = (dT * _c6)/8388608;
-    OFF = _c2 * 65536.0f + (_c4 * dT) / 128;
-    SENS = _c1 * 32768.0f + (_c3 * dT) / 256;
+    dT = _D2-(((uint32_t)_cal_reg.c5)<<8);
+    TEMP = (dT * _cal_reg.c6)/8388608;
+    OFF = _cal_reg.c2 * 65536.0f + (_cal_reg.c4 * dT) / 128;
+    SENS = _cal_reg.c1 * 32768.0f + (_cal_reg.c3 * dT) / 256;
 
     if (TEMP < 0) {
         // second order temperature compensation when under 20 degrees C
@@ -370,10 +370,10 @@ void AP_Baro_MS5607::_calculate()
     // we do the calculations using floating point allows us to take advantage
     // of the averaging of D1 and D1 over multiple samples, giving us more
     // precision
-    dT = _D2-(((uint32_t)_c5)<<8);
-    TEMP = (dT * _c6)/8388608;
-    OFF = _c2 * 131072.0f + (_c4 * dT) / 64;
-    SENS = _c1 * 65536.0f + (_c3 * dT) / 128;
+    dT = _D2-(((uint32_t)_cal_reg.c5)<<8);
+    TEMP = (dT * _cal_reg.c6)/8388608;
+    OFF = _cal_reg.c2 * 131072.0f + (_cal_reg.c4 * dT) / 64;
+    SENS = _cal_reg.c1 * 65536.0f + (_cal_reg.c3 * dT) / 128;
 
     if (TEMP < 0) {
         // second order temperature compensation when under 20 degrees C
@@ -409,10 +409,10 @@ void AP_Baro_MS5637::_calculate()
     // Formulas from manufacturer datasheet
     // sub -15c temperature compensation is not included
 
-    dT = raw_temperature - (((uint32_t)_c5) << 8);
-    TEMP = 2000 + ((int64_t)dT * (int64_t)_c6) / 8388608;
-    OFF = (int64_t)_c2 * (int64_t)131072 + ((int64_t)_c4 * (int64_t)dT) / (int64_t)64;
-    SENS = (int64_t)_c1 * (int64_t)65536 + ((int64_t)_c3 * (int64_t)dT) / (int64_t)128;
+    dT = raw_temperature - (((uint32_t)_cal_reg.c5) << 8);
+    TEMP = 2000 + ((int64_t)dT * (int64_t)_cal_reg.c6) / 8388608;
+    OFF = (int64_t)_cal_reg.c2 * (int64_t)131072 + ((int64_t)_cal_reg.c4 * (int64_t)dT) / (int64_t)64;
+    SENS = (int64_t)_cal_reg.c1 * (int64_t)65536 + ((int64_t)_cal_reg.c3 * (int64_t)dT) / (int64_t)128;
 
     if (TEMP < 2000) {
         // second order temperature compensation when under 20 degrees C

libraries/AP_Baro/AP_Baro_MS5611.h

@@ -49,12 +49,16 @@ protected:
     } _accum;
 
     uint8_t _state;
+    uint8_t _instance;
     uint32_t _last_cmd_usec;
 
+    /* Last compensated values from accumulated sample */
+    float _D1, _D2;
+
     // Internal calibration registers
-    uint16_t                 _c1,_c2,_c3,_c4,_c5,_c6;
-    float                    _D1, _D2;
-    uint8_t _instance;
+    struct {
+        uint16_t c1, c2, c3, c4, c5, c6;
+    } _cal_reg;
 };
 
 class AP_Baro_MS5611 : public AP_Baro_MS56XX
@@ -62,7 +66,7 @@ class AP_Baro_MS5611 : public AP_Baro_MS56XX
 public:
     AP_Baro_MS5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
 protected:
-    void _calculate();
+    void _calculate() override;
 };
 
 class AP_Baro_MS5607 : public AP_Baro_MS56XX
@@ -70,7 +74,7 @@ class AP_Baro_MS5607 : public AP_Baro_MS56XX
 public:
     AP_Baro_MS5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
 protected:
-    void _calculate();
+    void _calculate() override;
 };
 
 class AP_Baro_MS5637 : public AP_Baro_MS56XX
@@ -78,6 +82,6 @@ class AP_Baro_MS5637 : public AP_Baro_MS56XX
 public:
     AP_Baro_MS5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev);
 protected:
-    void _calculate();
+    void _calculate() override;
     bool _read_prom(uint16_t prom[8]) override;
 };