From c151f2467218b19fa1ad6bc9da0b1757633b4848 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 5 Jan 2015 22:28:00 +1100
Subject: [PATCH] Copter: updates for new AP_Baro API
---
ArduCopter/ArduCopter.pde | 17 ++---------------
ArduCopter/sensors.pde | 2 +-
2 files changed, 3 insertions(+), 16 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 9a5226a16..14a47404e 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -259,21 +259,8 @@ static GPS_Glitch gps_glitch(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;
+
static Baro_Glitch baro_glitch(barometer);
#if CONFIG_COMPASS == HAL_COMPASS_PX4
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 3a88aed86..8ec399885 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -16,7 +16,7 @@ static void init_barometer(bool full_calibration)
// return barometric altitude in centimeters
static void read_barometer(void)
{
- barometer.read();
+ barometer.update();
if (should_log(MASK_LOG_IMU)) {
Log_Write_Baro();
}
--
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