diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp index bf1c9b70d9..22d60e1b31 100644 --- a/ArduSub/system.cpp +++ b/ArduSub/system.cpp @@ -233,34 +233,16 @@ void Sub::init_ardupilot() barometer.update(); if (barometer.healthy(1)) { // We have an external MS58XX pressure sensor connected - barometer.set_primary_baro(1); // Set the primary baro to external MS58XX !!Changes and saves parameter value!! - - ap.depth_sensor_present = true; - for (int i = 1; i < barometer.num_instances(); i++) { - barometer.set_type(i, AP_Baro::BARO_TYPE_WATER); // Altitude (depth) is calculated differently underwater - barometer.set_precision_multiplier(i, 40); // The MS58XX values reported need to be multiplied by 10 to match units everywhere else - } - - EKF2.set_baro_alt_noise(0.1f); // Depth readings are very accurate and up-to-date EKF3.set_baro_alt_noise(0.1f); - } else { //We only have onboard baro - // No external underwater depth sensor detected barometer.set_primary_baro(0); // Set the primary baro to default board baro !!Changes and saves parameter value!! - ap.depth_sensor_present = false; - for (int i = 1; i < barometer.num_instances(); i++) { - barometer.set_type(i, AP_Baro::BARO_TYPE_AIR); // Default fcu air baro - barometer.set_precision_multiplier(i, 1); // Use default values - } EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS EKF3.set_baro_alt_noise(10.0f); - - } leak_detector.init(); @@ -269,12 +251,6 @@ void Sub::init_ardupilot() //----------------------------- init_barometer(true); - // cope with MS5607 in place of MS5611 on fake pixhawks - if (barometer.get_pressure(0) < 60000) { - barometer.set_precision_multiplier(0, 2); - init_barometer(true); // recalibrate with correct scalar - } - // backwards compatibility if (attitude_control.get_accel_yaw_max() < 110000.0f) { attitude_control.save_accel_yaw_max(110000.0f);