From a2002180ee40edc40407078b09617a0cb308bfb7 Mon Sep 17 00:00:00 2001 From: Jacob Walser Date: Fri, 18 Aug 2017 17:11:03 -0400 Subject: [PATCH] Sub: Set default external baro bus correctly for Pixhawk 2 --- ArduSub/Parameters.cpp | 1 - ArduSub/system.cpp | 14 ++++++++++++++ 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index 053f0a8ae2..6c7072d5e7 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -808,7 +808,6 @@ void Sub::load_parameters(void) convert_old_parameters(); AP_Param::set_default_by_name("BRD_SAFETYENABLE", 0); - AP_Param::set_default_by_name("GND_EXT_BUS", 1); AP_Param::set_default_by_name("ARMING_CHECK", AP_Arming::ARMING_CHECK_RC | AP_Arming::ARMING_CHECK_VOLTAGE | diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp index 78d95f0316..0d36354a8d 100644 --- a/ArduSub/system.cpp +++ b/ArduSub/system.cpp @@ -35,6 +35,20 @@ void Sub::init_ardupilot() BoardConfig_CAN.init(); #endif +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 + // Detection won't work until after BoardConfig.init() + switch (AP_BoardConfig::get_board_type()) { + case AP_BoardConfig::PX4_BOARD_PIXHAWK2: + AP_Param::set_default_by_name("GND_EXT_BUS", 0); + break; + default: + AP_Param::set_default_by_name("GND_EXT_BUS", 1); + break; + } +#else + AP_Param::set_default_by_name("GND_EXT_BUS", 1); +#endif + // identify ourselves correctly with the ground station mavlink_system.sysid = g.sysid_this_mav;