From 3ce7667e5a9d7c660f356f8c886ba812aaf12357 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 16 Oct 2014 10:55:38 +1100
Subject: [PATCH] AP_InertialSensor: tidy up MPU6000 driver

---
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 42db807b1a..f9687c66a7 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -507,10 +507,11 @@ bool AP_InertialSensor_MPU6000::_hardware_init(AP_InertialSensor::Sample_rate sa
         _sample_count = 2;
         break;
     case AP_InertialSensor::RATE_200HZ:
-    default:
         default_filter = BITS_DLPF_CFG_20HZ;
         _sample_count = 1;
         break;
+    default:
+        return false;
     }
 
     _set_filter_register(_imu.get_filter(), default_filter);