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Sub: Disable external baro check for SITL

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This commit is contained in:
Jacob Walser 2017-03-06 13:08:32 -05:00 committed by Randy Mackay
parent 15a7f7742f
commit 8a24b074f7
2 changed files with 4 additions and 1 deletions
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2
ArduSub/control_althold.cpp
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@ -8,10 +8,12 @@
// althold_init - initialise althold controller // althold_init - initialise althold controller
bool Sub::althold_init(bool ignore_checks) bool Sub::althold_init(bool ignore_checks)
{ {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately. if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor."); gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor.");
return false; return false;
} }
#endif
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller // sets the maximum speed up and down returned by position controller

3
ArduSub/control_surface.cpp
View File

@ -3,11 +3,12 @@
bool Sub::surface_init(bool ignore_checks) bool Sub::surface_init(bool ignore_checks)
{ {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately. if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately.
gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor."); gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor.");
return false; return false;
} }
#endif
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());