From 386547427d8e5a579f0e62beb5514bd983e818ca Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Wed, 30 Sep 2015 01:26:18 -0300 Subject: [PATCH] AP_Baro: support MS5611 on second i2c bus --- libraries/AP_Baro/AP_Baro.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index 27be240f05..aac3ef5923 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -295,6 +295,11 @@ void AP_Baro::init(void) drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c, HAL_BARO_MS5611_I2C_ADDR), false); _num_drivers = 1; } +#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611 && HAL_BARO_MS5611_I2C_BUS == 1 + { + drivers[0] = new AP_Baro_MS5611(*this, new AP_SerialBus_I2C(hal.i2c1, HAL_BARO_MS5611_I2C_ADDR), false); + _num_drivers = 1; + } #elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI { drivers[0] = new AP_Baro_MS5611(*this,