mirror of https://github.com/ArduPilot/ardupilot
Copter: updates for new AP_Baro API
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@ -259,21 +259,8 @@ static GPS_Glitch gps_glitch(gps);
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// flight modes convenience array
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static AP_Int8 *flight_modes = &g.flight_mode1;
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#if CONFIG_BARO == HAL_BARO_BMP085
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static AP_Baro_BMP085 barometer;
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#elif CONFIG_BARO == HAL_BARO_PX4
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static AP_Baro_PX4 barometer;
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#elif CONFIG_BARO == HAL_BARO_VRBRAIN
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static AP_Baro_VRBRAIN barometer;
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#elif CONFIG_BARO == HAL_BARO_HIL
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static AP_Baro_HIL barometer;
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#elif CONFIG_BARO == HAL_BARO_MS5611
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
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#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
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static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
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#else
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#error Unrecognized CONFIG_BARO setting
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#endif
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static AP_Baro barometer;
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static Baro_Glitch baro_glitch(barometer);
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#if CONFIG_COMPASS == HAL_COMPASS_PX4
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@ -16,7 +16,7 @@ static void init_barometer(bool full_calibration)
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// return barometric altitude in centimeters
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static void read_barometer(void)
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{
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barometer.read();
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barometer.update();
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if (should_log(MASK_LOG_IMU)) {
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Log_Write_Baro();
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}
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