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AP_OpticalFlow: The first value of the register to the value of the definition.

This commit is contained in:
murata 2016-08-21 07:39:19 +09:00 committed by Lucas De Marchi
parent 5d7ca3fd27
commit 59796aaf9c
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.cpp
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@ -91,14 +91,14 @@ bool AP_OpticalFlow_Linux::read(optical_flow_s* report)
// Perform the writing and reading in a single command
if (PX4FLOW_REG == 0x00) {
if (!_dev->read_registers(0, val, I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE)) {
if (!_dev->read_registers(PX4FLOW_REG, val, I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE)) {
goto fail_transfer;
}
memcpy(&f_integral, &(val[I2C_FRAME_SIZE]), I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
if (!_dev->read_registers(0, val, I2C_INTEGRAL_FRAME_SIZE)) {
if (!_dev->read_registers(PX4FLOW_REG, val, I2C_INTEGRAL_FRAME_SIZE)) {
goto fail_transfer;
}
memcpy(&f_integral, val, I2C_INTEGRAL_FRAME_SIZE);