disable overpressure monitoring

api/src/opentrons/hardware_control/backends/flex_protocol.py

@@ -60,6 +60,11 @@ def restore_system_constraints(self) -> AsyncIterator[None]:
     def grab_pressure(self, channels: int, mount: OT3Mount) -> AsyncIterator[None]:
         ...
 
+    def set_pressure_sensor_available(
+        self, pipette_axis: Axis, available: bool
+    ) -> None:
+        ...
+
     def update_constraints_for_gantry_load(self, gantry_load: GantryLoad) -> None:
         ...
 

api/src/opentrons/hardware_control/backends/ot3controller.py

@@ -362,6 +362,7 @@ def __init__(
                 self._configuration.motion_settings, GantryLoad.LOW_THROUGHPUT
             )
         )
+        self._pressure_sensor_available: Dict[NodeId, bool] = {}
 
     @asynccontextmanager
     async def restore_system_constraints(self) -> AsyncIterator[None]:
@@ -380,6 +381,12 @@ async def grab_pressure(
         async with grab_pressure(channels, tool, self._messenger):
             yield
 
+    def set_pressure_sensor_available(
+        self, pipette_axis: Axis, available: bool
+    ) -> None:
+        pip_node = axis_to_node(pipette_axis)
+        self._pressure_sensor_available[pip_node] = available
+
     def update_constraints_for_calibration_with_gantry_load(
         self,
         gantry_load: GantryLoad,
@@ -871,7 +878,8 @@ async def home(
         moving_pipettes = [
             axis_to_node(ax) for ax in checked_axes if ax in Axis.pipette_axes()
         ]
-        async with self._monitor_overpressure(moving_pipettes):
+        checked_moving_pipettes = self._pipettes_to_monitor_pressure(moving_pipettes)
+        async with self._monitor_overpressure(checked_moving_pipettes):
             positions = await asyncio.gather(*coros)
         # TODO(CM): default gear motor homing routine to have some acceleration
         if Axis.Q in checked_axes:
@@ -886,6 +894,9 @@ async def home(
             self._handle_motor_status_response(position)
         return axis_convert(self._position, 0.0)
 
+    def _pipettes_to_monitor_pressure(self, pipettes: List[NodeId]) -> List[NodeId]:
+        return [pip for pip in pipettes if self._pressure_sensor_available[pip]]
+
     def _filter_move_group(self, move_group: MoveGroup) -> MoveGroup:
         new_group: MoveGroup = []
         for step in move_group:

api/src/opentrons/hardware_control/ot3api.py

@@ -32,6 +32,7 @@
 )
 from opentrons_shared_data.pipette import (
     pipette_load_name_conversions as pipette_load_name,
+    pipette_definition
 )
 from opentrons_shared_data.robot.types import RobotType
 
@@ -634,10 +635,25 @@ async def cache_pipette(
             self._feature_flags.use_old_aspiration_functions,
         )
         self._pipette_handler.hardware_instruments[mount] = p
+        if config is not None:
+            self._set_pressure_sensor_available(mount, instrument_config=config)
         # TODO (lc 12-5-2022) Properly support backwards compatibility
         # when applicable
         return skipped
 
+    def _set_pressure_sensor_available(
+        self,
+        mount: OT3Mount,
+        instrument_config: pipette_definition.PipetteConfigurations,
+    ) -> None:
+        pressure_sensor_available = (
+            "pressure" in instrument_config.available_sensors.sensors
+        )
+        pip_axis = Axis.of_main_tool_actuator(mount)
+        self._backend.set_pressure_sensor_available(
+            pipette_axis=pip_axis, available=pressure_sensor_available
+        )
+
     async def cache_gripper(self, instrument_data: AttachedGripper) -> bool:
         """Set up gripper based on scanned information."""
         grip_cal = load_gripper_calibration_offset(instrument_data.get("id"))