#include "AP_DAL_Baro.h" #include <AP_Logger/AP_Logger.h> #include "AP_DAL.h" AP_DAL_Baro::AP_DAL_Baro() { for (uint8_t i=0; i<BARO_MAX_INSTANCES; i++) { _RBRI[i].instance = i; } } void AP_DAL_Baro::start_frame() { const auto &baro = AP::baro(); const log_RBRH old_RBRH = _RBRH; _RBRH.primary = baro.get_primary(); _RBRH.num_instances = baro.num_instances(); WRITE_REPLAY_BLOCK_IFCHANGED(RBRH, _RBRH, old_RBRH); for (uint8_t i=0; i<_RBRH.num_instances; i++) { log_RBRI &RBRI = _RBRI[i]; log_RBRI old = RBRI; RBRI.last_update_ms = baro.get_last_update(i); RBRI.healthy = baro.healthy(i); RBRI.altitude = baro.get_altitude(i); WRITE_REPLAY_BLOCK_IFCHANGED(RBRI, _RBRI[i], old); } } void AP_DAL_Baro::update_calibration() { AP::baro().update_calibration(); }