From 39c87f473a3666f3fd2a49e6ca169c3640293db5 Mon Sep 17 00:00:00 2001
From: CUAVcaijie <caijie@cuav.net>
Date: Wed, 25 Dec 2019 16:58:51 +0800
Subject: [PATCH] AP_Periph: add BARO_ENABLE option

---
 Tools/AP_Periph/Parameters.cpp | 1 +
 Tools/AP_Periph/Parameters.h   | 5 ++++-
 Tools/AP_Periph/can.cpp        | 3 +++
 3 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 3caee04cbd..e0b26cf1f4 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/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
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index f7e4dd70d5..a8ceb91809 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/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
diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index e5980382d4..0bb7869aa9 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/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;