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

Sub: Use AP_Baro::baro_type_t

This commit is contained in:
Jacob Walser 2017-02-06 17:06:33 -05:00 committed by Andrew Tridgell
parent cb0cf2035d
commit 2d29698df8
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduSub/system.cpp
View File

@ -239,7 +239,7 @@ void Sub::init_ardupilot()
ap.depth_sensor_present = true;
for (int i = 1; i < barometer.num_instances(); i++) {
barometer.set_type(i, BARO_TYPE_WATER); // Altitude (depth) is calculated differently underwater
barometer.set_type(i, AP_Baro::BARO_TYPE_WATER); // Altitude (depth) is calculated differently underwater
barometer.set_precision_multiplier(i, 40); // The MS58XX values reported need to be multiplied by 10 to match units everywhere else
}
@ -254,7 +254,7 @@ void Sub::init_ardupilot()
ap.depth_sensor_present = false;
for (int i = 1; i < barometer.num_instances(); i++) {
barometer.set_type(i, BARO_TYPE_AIR); // Default fcu air baro
barometer.set_type(i, AP_Baro::BARO_TYPE_AIR); // Default fcu air baro
barometer.set_precision_multiplier(i, 1); // Use default values
}
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS