mirror of https://github.com/ArduPilot/ardupilot
AP_Baro: Add CONFIG_MS5611_SERIAL option to choose between SPI and I2C.
- Update ArduCopter and ArduPlane modules to pass the correct serial driver to the MS5611 driver. - Update barometer examples, assuming SPI.
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@ -205,7 +205,13 @@ SITL sitl;
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#if CONFIG_BARO == AP_BARO_BMP085
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AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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AP_Baro_MS5611 barometer;
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#if CONFIG_MS5611_SERIAL == SPI
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == I2C
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AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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AP_Compass_HMC5843 compass;
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@ -63,6 +63,7 @@
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL SPI
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# endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define CONFIG_IMU_TYPE CONFIG_IMU_SITL
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@ -153,7 +153,13 @@ SITL sitl;
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#if CONFIG_BARO == AP_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == AP_BARO_MS5611
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static AP_Baro_MS5611 barometer;
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#if CONFIG_MS5611_SERIAL == SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#elif CONFIG_MS5611_SERIAL == I2C
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#else
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#error Unrecognized CONFIG_MS5611_SERIAL setting.
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#endif
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#endif
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static AP_Compass_HMC5843 compass;
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@ -121,6 +121,7 @@
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# define CONFIG_BARO AP_BARO_BMP085
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# else // APM2 Production Hardware (default)
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL SPI
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# endif
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#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
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# define A_LED_PIN 27
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@ -54,6 +54,7 @@
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# define CONFIG_PITOT_SOURCE PITOT_SOURCE_ANALOG_PIN
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# define MAGNETOMETER ENABLED
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# define CONFIG_BARO AP_BARO_MS5611
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# define CONFIG_MS5611_SERIAL SPI
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# define A_LED_PIN 27
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# define B_LED_PIN 26
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@ -13,7 +13,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
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AP_Baro_MS5611 baro;
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AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
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static uint32_t timer;
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void setup()
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@ -28,7 +28,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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#define A_LED_PIN 27
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#define C_LED_PIN 25
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AP_InertialSensor_MPU6000 ins;
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AP_Baro_MS5611 baro;
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AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
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#else
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