[modules] qnh: configurable QNH_BARO_ID

paparazzi · Oct 11, 2014 · af4f5b4 · af4f5b4
1 parent f944800
commit af4f5b4
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/conf/modules/qnh.xml b/conf/modules/qnh.xml
@@ -2,7 +2,11 @@
 
 <module name="altitude">
   <doc>
-    <description>Altitude</description>
+    <description>
+      QNH Altitude.
+      Barometric pressure adjusted to sea level, when set on an aircraft's altimeter, will cause the altimeter to read altitude above mean sea level within a certain defined region.
+    </description>
+    <define name="QNH_BARO_ID" value="id" description="ABI sender ID of the baro sensor, default is any baro (ABI_BROADCAST)"/>
   </doc>
   <header>
     <file name="qnh.h"/>

diff --git a/sw/airborne/modules/altitude/qnh.c b/sw/airborne/modules/altitude/qnh.c
@@ -26,6 +26,10 @@
 #include "subsystems/sensors/baro.h"
 #include "generated/airframe.h"
 
+#ifndef QNH_BARO_ID
+#define QNH_BARO_ID ABI_BROADCAST
+#endif
+
 struct qnh_struct qnh;
 abi_event qnh_baro_event = {0, 0, 0};
 
@@ -64,7 +68,7 @@ void init_qnh(void) {
   qnh.baro_counter = 0;
   qnh.amsl_gps = 0;
   qnh.baro_pressure = 0;
-  AbiBindMsgBARO_ABS(0, &qnh_baro_event, &received_abs_baro_for_qnh);
+  AbiBindMsgBARO_ABS(QNH_BARO_ID, &qnh_baro_event, &received_abs_baro_for_qnh);
 }
 
 void compute_qnh(void)