From daedebce2e67fbe0209cc3d9f2ea8028c0c54c1f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 30 Oct 2021 12:15:47 +1100
Subject: [PATCH] AP_Baro: create and use HAL_SIM_BARO_ENABLED

---
 libraries/AP_Baro/AP_Baro.cpp | 29 ++++++++++++++++++++---------
 libraries/AP_Baro/AP_Baro.h   |  2 +-
 2 files changed, 21 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index e2ce13be4d..0447cae0bd 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -535,7 +535,17 @@ void AP_Baro::init(void)
         sensors[i].bus_id.set(0);
     }
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_SIM_BARO_ENABLED
+    SITL::SIM *sitl = AP::sitl();
+    if (sitl == nullptr) {
+        AP_HAL::panic("No SITL pointer");
+    }
+    for(uint8_t i = 0; i < sitl->baro_count; i++) {
+        ADD_BACKEND(new AP_Baro_SITL(*this));
+    }
+#endif
+
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS && !AP_SIM_BARO_ENABLED
     // Detect UAVCAN Modules, try as many times as there are driver slots
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
@@ -552,6 +562,15 @@ void AP_Baro::init(void)
 // macro for use by HAL_INS_PROBE_LIST
 #define GET_I2C_DEVICE(bus, address) hal.i2c_mgr->get_device(bus, address)
 
+#if AP_SIM_BARO_ENABLED
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
+                                      std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
+#endif
+    // do not probe for other drivers when using simulation:
+    return;
+#endif
+
 #if defined(HAL_BARO_PROBE_LIST)
     // probe list from BARO lines in hwdef.dat
     HAL_BARO_PROBE_LIST;
@@ -630,14 +649,6 @@ void AP_Baro::init(void)
     default:
         break;
     }
-#elif AP_SIM_BARO_ENABLED
-    SITL::SIM *sitl = AP::sitl();
-    if (sitl == nullptr) {
-        AP_HAL::panic("No SITL pointer");
-    }
-    for(uint8_t i = 0; i < sitl->baro_count; i++) {
-        ADD_BACKEND(new AP_Baro_SITL(*this));
-    }
 #elif HAL_BARO_DEFAULT == HAL_BARO_LPS25H_IMU_I2C
 	ADD_BACKEND(AP_Baro_LPS2XH::probe_InvensenseIMU(*this,
                                                     std::move(GET_I2C_DEVICE(HAL_BARO_LPS25H_I2C_BUS, HAL_BARO_LPS25H_I2C_ADDR)),
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index c4f3552028..68280969b8 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -7,7 +7,7 @@
 #include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 
 #ifndef AP_SIM_BARO_ENABLED
-#define AP_SIM_BARO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#define AP_SIM_BARO_ENABLED AP_SIM_ENABLED
 #endif
 
 #ifndef HAL_MSP_BARO_ENABLED