AP_Periph: add BARO_ENABLE option

Tools/AP_Periph/Parameters.cpp

@@ -57,6 +57,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @Group: BARO_
     // @Path: ../../libraries/AP_Baro/AP_Baro.cpp
     GOBJECT(baro, "BARO_", AP_Baro),
+    GSCALAR(baro_enable, "BARO_ENABLE", 1),
 #endif
 
 #ifdef AP_PERIPH_HAVE_LED

Tools/AP_Periph/Parameters.h

@@ -26,6 +26,7 @@ public:
         k_param_adsb_baudrate,
         k_param_hardpoint_id,
         k_param_hardpoint_rate,
+        k_param_baro_enable,
     };
 
     AP_Int16 format_version;
@@ -37,7 +38,9 @@ public:
 #ifdef AP_PERIPH_HAVE_LED
     AP_Int8 led_brightness;
 #endif
-
+#ifdef HAL_PERIPH_ENABLE_BARO
+    AP_Int8 baro_enable;
+#endif
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
     AP_Int8 flash_bootloader;
 #endif

Tools/AP_Periph/can.cpp

@@ -1377,6 +1377,9 @@ void AP_Periph_FW::can_gps_update(void)
 void AP_Periph_FW::can_baro_update(void)
 {
 #ifdef HAL_PERIPH_ENABLE_BARO
+    if (!periph.g.baro_enable) {
+        return;
+    }
     baro.update();
     if (last_baro_update_ms == baro.get_last_update()) {
         return;