From 3af1dc8c93a8c4634b54f067e119c1b3cd374bee Mon Sep 17 00:00:00 2001
From: jaxxzer <jwalser90@gmail.com>
Date: Mon, 18 Jan 2016 00:42:59 -0500
Subject: [PATCH] Sub: Add support for external pressure sensor in ROV context.

---
 ArduSub/system.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 162fe3ad6d..000fb3932b 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -244,6 +244,11 @@ void Sub::init_ardupilot()
     // read Baro pressure at ground
     //-----------------------------
     init_barometer(true);
+    if(barometer.num_instances() > 1) {
+    //We have an external MS58XX pressure sensor connected
+    	barometer.set_type(1, BARO_TYPE_WATER); //Altitude (depth) is calculated differently underwater 
+    	barometer.set_precision_multiplier(1, 10); //The MS58XX values reported need to be multiplied by 10 to match units everywhere else
+    }
 
     // initialise sonar
 #if CONFIG_SONAR == ENABLED