Notify: baro warning tone alarm

libraries/AP_Notify/ToneAlarm_PX4.cpp

@@ -112,6 +112,15 @@ void ToneAlarm_PX4::update()
         }
     }
 
+    // check baro glitch
+    if (flags.baro_glitching != AP_Notify::flags.baro_glitching) {
+        flags.baro_glitching = AP_Notify::flags.baro_glitching;
+        if (flags.baro_glitching) {
+            // gps glitch warning tune
+            play_tune(TONE_BARO_WARNING_TUNE);
+        }
+    }
+
     // check parachute release
     if (flags.parachute_release != AP_Notify::flags.parachute_release) {
         flags.parachute_release = AP_Notify::flags.parachute_release;

libraries/AP_Notify/ToneAlarm_PX4.h

@@ -41,6 +41,7 @@ private:
         uint8_t failsafe_battery   : 1;    // 1 if battery failsafe
         uint8_t gps_glitching      : 1;    // 1 if gps position is not good
         uint8_t failsafe_gps       : 1;    // 1 if gps failsafe
+        uint8_t baro_glitching     : 1;    // 1 if baro alt is glitching
         uint8_t arming_failed      : 1;    // 0 = failing checks, 1 = passed
         uint8_t parachute_release  : 1;    // 1 if parachute is being released
         uint8_t ekf_bad            : 1;    // 1 if ekf position has gone bad