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AP_Baro: select in-tree vs PX4 drivers at runtime

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This commit is contained in:
Andrew Tridgell 2016-11-01 21:29:18 +11:00
parent ce174489c3
commit 72c2e3a4d5
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_Baro/AP_Baro.cpp
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@ -24,6 +24,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "AP_Baro_BMP085.h"
#include "AP_Baro_HIL.h"
@ -291,7 +292,16 @@ void AP_Baro::init(void)
}
#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN
drivers[0] = new AP_Baro_PX4(*this);
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V1 ||
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)));
} 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)));
} else {
drivers[0] = new AP_Baro_PX4(*this);
}
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);