From 18fbcdf9e6dc152f623dd123d7af6bfaa3bf812d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 24 Nov 2012 21:08:06 +1100
Subject: [PATCH] AP_InertialSensor: fixed example build

---
 .../examples/MPU6000/MPU6000.pde              | 24 +++++++++++++++++--
 1 file changed, 22 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde b/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
index 2edd6d96a7..dde00fb36f 100644
--- a/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
+++ b/libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
@@ -101,6 +101,26 @@ void loop(void)
     }
 }
 
+static void setup_printf_P(const prog_char_t *fmt, ...)
+{
+    va_list arg_list;
+    va_start(arg_list, fmt);
+    Serial.vprintf_P(fmt, arg_list);
+    va_end(arg_list);
+}
+
+static void setup_wait_key(void)
+{
+    // wait for user input
+    while (!Serial.available()) {
+        delay(20);
+    }
+    // clear input buffer
+    while( Serial.available() ) {
+        Serial.read();
+    }
+}
+
 void run_calibration()
 {
     // clear off any other characters (like line feeds,etc)
@@ -108,7 +128,7 @@ void run_calibration()
         Serial.read();
     }
 
-    ins.calibrate_accel(delay, NULL);
+    ins.calibrate_accel(delay, NULL, setup_printf_P, setup_wait_key);
 }
 
 void display_offsets_and_scaling()
@@ -197,4 +217,4 @@ void run_test()
     while( Serial.available() ) {
         Serial.read();
     }
-}
\ No newline at end of file
+}