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AP_Baro: fixed FMUv1 baro and enable in-tree driver for PHMINI

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This commit is contained in:
Andrew Tridgell 2016-11-09 11:34:16 +11:00
parent fcf0a4ea59
commit 565f1986e0
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_Baro/AP_Baro.cpp
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@ -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;