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ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised

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This commit is contained in:
rmackay9 2012-12-11 00:14:29 +09:00
parent af77425636
commit 52177c63f7
1 changed files with 11 additions and 10 deletions
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3
ArduCopter/sensors.pde
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@ -54,7 +54,7 @@ static void init_optflow()
if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) { if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
g.optflow_enabled = false; g.optflow_enabled = false;
cliSerial->print_P(PSTR("\nFailed to Init OptFlow ")); cliSerial->print_P(PSTR("\nFailed to Init OptFlow "));
} }else{
// suspend timer while we set-up SPI communication // suspend timer while we set-up SPI communication
timer_scheduler.suspend_timer(); timer_scheduler.suspend_timer();
@ -65,6 +65,7 @@ static void init_optflow()
// resume timer // resume timer
timer_scheduler.resume_timer(); timer_scheduler.resume_timer();
}
#endif // OPTFLOW == ENABLED #endif // OPTFLOW == ENABLED
} }