Peter Barker

> The comments appear to have been corrected. What should I do to merge this PR? I've marked it for discussion at our DevCall meeting this-evening.

We have an intent to make all ExternalAHRS drivers not built into ArduPilot by default in ArduPilot 4.7. That would require users to use custom.ardupilot.org to include any ExternalAHRS driver.

We can merge this once the API change to the EXternalAHRS library has been removed

Merged, thanks!

> nice one. The issue on CI is right, you need to add this to AP_DAL too as this using some EKF functions! Thanks, I've pushed a patch for the...

I've built all branches and it all seems correct - boards without optflow save a bunch of bytes.

I've flown this on a SkyViper without incident

I've run this through the test-features build and fixed unrelated bugs in this PR now

Ping @Tdogb - also needs to pass CI :-)

> Hey guys, I think it would be super cool to implement the absolute pressure sensing capability. Does anyone have strong opinions on how this is implemented? I don't want...