Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: updates for new AP_Baro API

This commit is contained in:
Andrew Tridgell 2015-01-05 15:56:18 +11:00
parent 8a3d3bed72
commit 035b1302ed
2 changed files with 3 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
ArduPlane/ArduPlane.pde
View File

@ -193,21 +193,7 @@ static AP_GPS gps;
// flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1;
#if CONFIG_BARO == HAL_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == HAL_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == HAL_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == HAL_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == HAL_BARO_MS5611
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#else
#error Unrecognized CONFIG_BARO setting
#endif
static AP_Baro barometer;
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
@ -1511,7 +1497,7 @@ static void set_flight_stage(AP_SpdHgtControl::FlightStage fs)
static void update_alt()
{
barometer.read();
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}

2
ArduPlane/test.pde
View File

@ -577,7 +577,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
while(1) {
hal.scheduler->delay(100);
barometer.read();
barometer.update();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));