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AP_InertialSensor: MPU6000: Add missing read() check

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Murilo Belluzzo 2016-08-02 17:52:44 -03:00 committed by Lucas De Marchi
parent 0d4caa3ccc
commit 36bdd7f1f1
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -722,7 +722,9 @@ int AP_MPU6000_AuxiliaryBusSlave::passthrough_read(uint8_t reg, uint8_t *buf,
hal.scheduler->delay(10); hal.scheduler->delay(10);
auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend()); auto &backend = AP_InertialSensor_MPU6000::from(_bus.get_backend());
backend._block_read(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, size); if (!backend._block_read(MPUREG_EXT_SENS_DATA_00 + _ext_sens_data, buf, size)) {
return -1;
}
/* disable new reads */ /* disable new reads */
backend._register_write(_mpu6000_ctrl, 0); backend._register_write(_mpu6000_ctrl, 0);