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Rover: updates for new AP_Baro API

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This commit is contained in:
Andrew Tridgell 2015-01-05 22:27:45 +11:00
parent bb6deb4817
commit e575bc264e
1 changed files with 2 additions and 16 deletions
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18
APMrover2/APMrover2.pde
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@ -201,21 +201,7 @@ static AP_GPS gps;
// flight modes convenience array
static AP_Int8 *modes = &g.mode1;
#if CONFIG_BARO == HAL_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == HAL_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == HAL_BARO_VRBRAIN
static AP_Baro_VRBRAIN barometer;
#elif CONFIG_BARO == HAL_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == HAL_BARO_MS5611
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#else
#error Unrecognized CONFIG_BARO setting
#endif
static AP_Baro barometer;
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
@ -639,7 +625,7 @@ static void mount_update(void)
static void update_alt()
{
barometer.read();
barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}