Has anyone successfully integrated an external barometer on Pixhawk-4? We’ve plugged our MS5611 into port UART&I2C B, but haven’t figured out a way to accommodate the external barometer on that port. According to ArduPilot Pixhawk4 docs, this port corresponds to bus2 in ArduPilot:
* the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
* the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware)
* the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
* the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware)
Yet the relevant parameter BARO_EXT_BUS only takes values -1, 0 (internal I2C), or 1 (GPS module port) in MissionPlanner (and QGroundControl for that matter). There is an external barometer guide for Pixhawk-1, but I can’t find anything yet for Pixhawk-4. Running ArduPlane 4.1.6.