AP_Compass: LSM303D: check for overruns in compass values

2016-03-21 12:07:52 -03:00 · 2016-03-21 12:07:52 -03:00 · 46936767c1
parent cf2d866d51
commit 46936767c1
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_Compass/AP_Compass_LSM303D.cpp
+++ b/libraries/AP_Compass/AP_Compass_LSM303D.cpp
@ -236,6 +236,11 @@ bool AP_Compass_LSM303D::_read_sample()
        return false;
    }

+    /* check for overrun */
+    if ((rx.status & 0x70) != 0) {
+        return false;
+    }
+
    if (is_zero(rx.x) && is_zero(rx.y) && is_zero(rx.z)) {
        return false;
    }