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AP_Baro: enable dual baro on PH2

This commit is contained in:
Andrew Tridgell 2016-11-04 17:57:05 +11:00
parent 4df9b093c3
commit 66026100c3
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_Baro/AP_Baro.cpp
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@ -296,13 +296,21 @@ void AP_Baro::init(void)
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V2) {
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)));
_num_drivers = 1;
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME)));
drivers[1] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME)));
_num_drivers = 2;
} else if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V4) {
drivers[0] = new AP_Baro_MS5611(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME)));
_num_drivers = 1;
} else {
drivers[0] = new AP_Baro_PX4(*this);
_num_drivers = 1;
}
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;