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AP_Baro: support 0 detected simulated baros

This commit is contained in:
Peter Barker 2019-01-05 21:44:40 +11:00 committed by Andrew Tridgell
parent 848a70acd4
commit c283bb968b
1 changed files with 11 additions and 5 deletions
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16
libraries/AP_Baro/AP_Baro.cpp
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@ -452,11 +452,6 @@ void AP_Baro::init(void)
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(new AP_Baro_SITL(*this));
return;
#endif
#if HAL_WITH_UAVCAN
// Detect UAVCAN Modules, try as many times as there are driver slots
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
@ -542,6 +537,17 @@ void AP_Baro::init(void)
default:
break;
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL *sitl = AP::sitl();
if (sitl == nullptr) {
AP_HAL::panic("No SITL pointer");
}
if (sitl->baro_count > 1) {
::fprintf(stderr, "More than one baro not supported. Sorry.");
}
if (sitl->baro_count == 1) {
ADD_BACKEND(new AP_Baro_SITL(*this));
}
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;