From 7686660c736e1f1c289006d0e9f7e508518522a9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 13 Aug 2014 22:54:41 +0900
Subject: [PATCH] Copter: use baro healthy()

---
 ArduCopter/GCS_Mavlink.pde | 2 +-
 ArduCopter/motors.pde      | 2 +-
 ArduCopter/system.pde      | 4 ++--
 ArduCopter/test.pde        | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index c38db2e4dc..798f8ef148 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -187,7 +187,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan)
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |
                                                          MAV_SYS_STATUS_SENSOR_GPS |
                                                          MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
-    if (barometer.healthy) {
+    if (barometer.healthy()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
     }
     if (g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 9d87247887..fbdbbf3cfd 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -240,7 +240,7 @@ static void pre_arm_checks(bool display_failure)
     // check Baro
     if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_BARO)) {
         // barometer health check
-        if(!barometer.healthy) {
+        if(!barometer.healthy()) {
             if (display_failure) {
                 gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Baro not healthy"));
             }
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 915e770f12..ee00e4a0d3 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -248,8 +248,8 @@ static void init_ardupilot()
 #endif // CLI_ENABLED
 
 #if HIL_MODE != HIL_MODE_DISABLED
-    while (!barometer.healthy) {
-        // the barometer becomes healthy when we get the first
+    while (barometer.get_last_update() == 0) {
+        // the barometer begins updating when we get the first
         // HIL_STATE message
         gcs_send_text_P(SEVERITY_LOW, PSTR("Waiting for first HIL_STATE message"));
         delay(1000);
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index b309792241..d59c10248a 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -60,7 +60,7 @@ test_baro(uint8_t argc, const Menu::arg *argv)
         delay(100);
         alt = read_barometer();
 
-        if (!barometer.healthy) {
+        if (!barometer.healthy()) {
             cliSerial->println_P(PSTR("not healthy"));
         } else {
             cliSerial->printf_P(PSTR("Alt: %0.2fm, Raw: %f Temperature: %.1f\n"),