From 8a24b074f70198279185487347f6a2761b5a4e13 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Mon, 6 Mar 2017 13:08:32 -0500 Subject: [PATCH] Sub: Disable external baro check for SITL --- ArduSub/control_althold.cpp | 2 ++ ArduSub/control_surface.cpp | 3 ++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp index 34b882ffd6..99074efe33 100644 --- a/ArduSub/control_althold.cpp +++ b/ArduSub/control_althold.cpp @@ -8,10 +8,12 @@ // althold_init - initialise althold controller bool Sub::althold_init(bool ignore_checks) { +#if CONFIG_HAL_BOARD != HAL_BOARD_SITL if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately. gcs_send_text(MAV_SEVERITY_WARNING, "Depth hold requires external pressure sensor."); return false; } +#endif // initialize vertical speeds and leash lengths // sets the maximum speed up and down returned by position controller diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp index 57fd868560..a03d6f7a83 100644 --- a/ArduSub/control_surface.cpp +++ b/ArduSub/control_surface.cpp @@ -3,11 +3,12 @@ bool Sub::surface_init(bool ignore_checks) { - +#if CONFIG_HAL_BOARD != HAL_BOARD_SITL if (!ap.depth_sensor_present) { // can't hold depth without a depth sensor, exit immediately. gcs_send_text(MAV_SEVERITY_WARNING, "Surface mode requires external pressure sensor."); return false; } +#endif // initialize vertical speeds and leash lengths pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());