ArduCopter: instantiate correct AP_Baro object based on CONFIG_BARO

13 years ago · b055aa6f81
1 changed files with 7 additions and 1 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -159,7 +159,13 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
				@@ -159,7 +159,13 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
    AP_Baro_BMP085_HIL barometer;
    AP_Compass_HIL          compass;
 #else
-	  AP_Baro_BMP085 barometer;
+
+    #if CONFIG_BARO == AP_BARO_BMP085
+	AP_Baro_BMP085 barometer;
+    #elif CONFIG_BARO == AP_BARO_MS5611
+    AP_Baro_MS5611 barometer;
+    #endif
+
    AP_Compass_HMC5843      compass(Parameters::k_param_compass);
 #endif