From 6fa7dca68b06a32561633f2992bf853da42ae974 Mon Sep 17 00:00:00 2001 From: vierfuffzig Date: Fri, 8 May 2020 18:03:07 +0200 Subject: [PATCH] AP-Baro: fix init without baro --- libraries/AP_Baro/AP_Baro.cpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp index 35f7d6c759..ff2c24eab2 100644 --- a/libraries/AP_Baro/AP_Baro.cpp +++ b/libraries/AP_Baro/AP_Baro.cpp @@ -205,9 +205,17 @@ void AP_Baro::calibrate(bool save) } if (hal.util->was_watchdog_reset()) { - BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration"); + BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: skipping calibration after WDG reset"); return; } + + #ifdef HAL_BARO_ALLOW_INIT_NO_BARO + if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) { + BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Baro: no sensors found, skipping calibration"); + return; + } + #endif + BARO_SEND_TEXT(MAV_SEVERITY_INFO, "Calibrating barometer"); // reset the altitude offset when we calibrate. The altitude