From 85b82e75f6776c15fb04777807c345f4a3c48e75 Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Thu, 8 Dec 2011 22:48:22 -0800
Subject: [PATCH] ArduPlane: update AP_Baro construtors and initializers

---
 ArduPlane/ArduPlane.pde | 12 +++++++++++-
 ArduPlane/system.pde    |  6 +-----
 2 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 1d2d049f49..18e8b72349 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -137,7 +137,17 @@ static AP_ADC_ADS7844          adc;
 AP_Baro_BMP085_HIL      barometer;
 AP_Compass_HIL          compass;
 #else
-static AP_Baro_BMP085          barometer;
+
+#if CONFIG_BARO == AP_BARO_BMP085
+# if CONFIG_HARDWARE == CONFIG_HARDWARE_APM2
+static AP_Baro_BMP085          barometer(true);
+# else
+static AP_Baro_BMP085          barometer(false);
+# endif
+#elif CONFIG_BARO == AP_BARO_MS5611
+static AP_Baro_MS5611          barometer;
+#endif
+
 static AP_Compass_HMC5843      compass(Parameters::k_param_compass);
 #endif
 
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index aaae707ef8..e544e151be 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -177,11 +177,7 @@ static void init_ardupilot()
 
     adc.Init(&timer_scheduler);      // APM ADC library initialization
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
-	barometer.Init(1, true);
-#else
-	barometer.Init(1, false);
-#endif
+	barometer.init(&timer_scheduler);
 
 	if (g.compass_enabled==true) {
         compass.set_orientation(MAG_ORIENTATION);							// set compass's orientation on aircraft