From d1791bab76525414717051a26d0ed764846797d3 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 25 May 2013 12:21:29 +0900
Subject: [PATCH] Copter: fix barometer cli test

---
 ArduCopter/sensors.pde |  1 +
 ArduCopter/system.pde  | 11 ++++++-----
 ArduCopter/test.pde    | 21 +++++++++++----------
 3 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 7662d5d4b0..46eb89022c 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -16,6 +16,7 @@ static void init_sonar(void)
 
 static void init_barometer(void)
 {
+    gcs_send_text_P(SEVERITY_LOW, PSTR("Calibrating barometer"));
     barometer.calibrate();
     gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
 }
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 8b03fb2173..a3ffef4e23 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -142,6 +142,10 @@ static void init_ardupilot()
     // load parameters from EEPROM
     load_parameters();
 
+#if HIL_MODE != HIL_MODE_ATTITUDE
+    barometer.init();
+#endif
+
     // init the GCS
     gcs0.init(hal.uartA);
 
@@ -197,9 +201,6 @@ static void init_ardupilot()
     // begin filtering the ADC Gyros
     adc.Init();           // APM ADC library initialization
  #endif // CONFIG_ADC
-
-    barometer.init();
-
 #endif // HIL_MODE
 
     // Do GPS init
@@ -251,8 +252,8 @@ static void init_ardupilot()
 #endif
 
 #if FRAME_CONFIG == HELI_FRAME
-// initialise controller filters
-init_rate_controllers();
+    // initialise controller filters
+    init_rate_controllers();
 #endif // HELI_FRAME
 
     // initialize commands
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 60f47ce70c..29011438e4 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -67,9 +67,9 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
     {"tune",                test_tuning},
     {"relay",               test_relay},
     {"wp",                  test_wp},
-//	{"toy",			test_toy},
+//	{"toy",			        test_toy},
 #if HIL_MODE != HIL_MODE_ATTITUDE && HIL_MODE != HIL_MODE_SENSORS
-    {"altitude",    test_baro},
+    {"baro",                test_baro},
     {"sonar",               test_sonar},
 #endif
     {"compass",             test_mag},
@@ -413,20 +413,21 @@ test_wp(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_baro(uint8_t argc, const Menu::arg *argv)
 {
+    int32_t alt;
     print_hit_enter();
     init_barometer();
 
     while(1) {
         delay(100);
-        int32_t alt = read_barometer();                 // calls barometer.read()
+        alt = read_barometer();
 
-        float pres = barometer.get_pressure();
-        int16_t temp = barometer.get_temperature();
-        int32_t raw_pres = barometer.get_raw_pressure();
-        int32_t raw_temp = barometer.get_raw_temp();
-        cliSerial->printf_P(PSTR("alt: %ldcm, pres: %fmbar, temp: %d/100degC,"
-                             " raw pres: %ld, raw temp: %ld\n"),
-                            (long)alt, pres, (int)temp, (long)raw_pres, (long)raw_temp);
+        if (!barometer.healthy) {
+            cliSerial->println_P(PSTR("not healthy"));
+        } else {
+            cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),
+                            alt / 100.0,
+                            barometer.get_pressure(), 0.1*barometer.get_temperature());
+        }
         if(cliSerial->available() > 0) {
             return (0);
         }