AP_Baro: added autodetection of popular baro types on external bus

libraries/AP_Baro/AP_Baro.cpp

@@ -563,6 +563,17 @@ void AP_Baro::init(void)
                                       std::move(hal.spi->get_device(HAL_BARO_LPS22H_NAME))));
 #endif
 
+#if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
+    ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_BARO_MS5611_I2C_ADDR))));
+
+    ADD_BACKEND(AP_Baro_BMP280::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_BARO_BMP280_I2C_ADDR))));
+
+    ADD_BACKEND(AP_Baro_BMP085::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_BARO_BMP085_I2C_ADDR))));
+#endif
+
     // can optionally have baro on I2C too
     if (_ext_bus >= 0) {
 #if APM_BUILD_TYPE(APM_BUILD_ArduSub)
@@ -574,12 +585,23 @@ void AP_Baro::init(void)
 #else
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
+
+ #if CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT // we don't know which baro user will solder
+
+        ADD_BACKEND(AP_Baro_BMP280::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_BMP280_I2C_ADDR))));
+        ADD_BACKEND(AP_Baro_BMP085::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_BMP085_I2C_ADDR))));
+ #endif                                         
 #endif
     }
 
+#if CONFIG_HAL_BOARD != HAL_BOARD_F4LIGHT // most boards requires external baro
+
     if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
         AP_BoardConfig::sensor_config_error("Baro: unable to initialise driver");
     }
+#endif
 }