From 565f1986e09eb71d55999603f0d34d87ddc4667f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 9 Nov 2016 11:34:16 +1100 Subject: [PATCH] AP_Baro: fixed FMUv1 baro and enable in-tree driver for PHMINI --- libraries/AP_Baro/AP_Baro.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index 0e23b04850..58b0470d80 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -292,8 +292,14 @@ void AP_Baro::init(void) } #if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN - if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1 || - AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) { + if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1) { +#ifdef HAL_BARO_MS5611_I2C_BUS + drivers[0] = new AP_Baro_MS5611(*this, + std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))); + _num_drivers = 1; +#endif + } else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2 || + AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI) { drivers[0] = new AP_Baro_MS5611(*this, std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))); _num_drivers = 1;