From 2e9d2e644955eb167e7949abbae1dc81e756f01f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 13 Mar 2015 22:32:18 +1100 Subject: [PATCH] AP_Baro: load only HIL backend for hil_mode --- libraries/AP_Baro/AP_Baro.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index 2be9079ccd..45f7c27385 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -255,6 +255,12 @@ float AP_Baro::get_calibration_temperature(uint8_t instance) const */ void AP_Baro::init(void) { + if (_hil_mode) { + drivers[0] = new AP_Baro_HIL(*this); + _num_drivers = 1; + return; + } + #if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN drivers[0] = new AP_Baro_PX4(*this); _num_drivers = 1;