From 035b1302ed944f6d9638d1a72ffb366f10a5f2d7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Jan 2015 15:56:18 +1100
Subject: [PATCH] Plane: updates for new AP_Baro API
---
ArduPlane/ArduPlane.pde | 18 ++----------------
ArduPlane/test.pde | 2 +-
2 files changed, 3 insertions(+), 17 deletions(-)
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index b4a6a798b..966302046 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -193,21 +193,7 @@ static AP_GPS gps;
// flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1;
-#if CONFIG_BARO == HAL_BARO_BMP085
-static AP_Baro_BMP085 barometer;
-#elif CONFIG_BARO == HAL_BARO_PX4
-static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == HAL_BARO_VRBRAIN
-static AP_Baro_VRBRAIN barometer;
-#elif CONFIG_BARO == HAL_BARO_HIL
-static AP_Baro_HIL barometer;
-#elif CONFIG_BARO == HAL_BARO_MS5611
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-#else
- #error Unrecognized CONFIG_BARO setting
-#endif
+static AP_Baro barometer;
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
@@ -1511,7 +1497,7 @@ static void set_flight_stage(AP_SpdHgtControl::FlightStage fs)
static void update_alt()
{
- barometer.read();
+ barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index 7c4d9fbdd..d66cee6d2 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -577,7 +577,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
while(1) {
hal.scheduler->delay(100);
- barometer.read();
+ barometer.update();
if (!barometer.healthy()) {
cliSerial->println_P(PSTR("not healthy"));
--
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