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AP_Baro: fixed baro health for AP_Periph

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This commit is contained in:
Andrew Tridgell 2020-01-13 12:14:28 +11:00
parent cc5ccc28ec
commit 8e4138b503
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_Baro/AP_Baro.cpp
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@ -64,6 +64,10 @@
#define HAL_BARO_PROBE_EXT_DEFAULT 0 #define HAL_BARO_PROBE_EXT_DEFAULT 0
#endif #endif
#ifdef HAL_BUILD_AP_PERIPH
#define HAL_BARO_ALLOW_INIT_NO_BARO
#endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// table of user settable parameters // table of user settable parameters
@ -607,6 +611,14 @@ void AP_Baro::init(void)
AP_BoardConfig::config_error("Baro: unable to initialise driver"); AP_BoardConfig::config_error("Baro: unable to initialise driver");
} }
#endif #endif
#ifdef HAL_BUILD_AP_PERIPH
// AP_Periph always is set calibrated. We only want the pressure,
// so ground calibration is unnecessary
for (uint8_t i=0; i<_num_sensors; i++) {
sensors[i].calibrated = true;
sensors[i].alt_ok = true;
}
#endif
} }
/* /*