From b055aa6f819d9b6755e7785ea1e7f089d7a08cad Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@moreproductive.org>
Date: Tue, 29 Nov 2011 20:35:08 -0800
Subject: [PATCH] ArduCopter: instantiate correct AP_Baro object based on
 CONFIG_BARO

---
 ArduCopter/ArduCopter.pde | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 3c0f265ac9..71b3b5b32d 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -159,7 +159,13 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
     AP_Baro_BMP085_HIL barometer;
     AP_Compass_HIL          compass;
 #else
-	  AP_Baro_BMP085 barometer;
+
+    #if CONFIG_BARO == AP_BARO_BMP085
+	AP_Baro_BMP085 barometer;
+    #elif CONFIG_BARO == AP_BARO_MS5611
+    AP_Baro_MS5611 barometer;
+    #endif
+
     AP_Compass_HMC5843      compass(Parameters::k_param_compass);
 #endif