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AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl 

This bit should never be set on 20789
This commit is contained in:
Peter Barker 2018-01-02 12:34:24 +11:00 committed by Andrew Tridgell
parent 3a0c5bed85
commit 5d94172ada
1 changed files with 0 additions and 5 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -361,11 +361,6 @@ void AP_InertialSensor_Invensense::_fifo_reset()
uint8_t user_ctrl = _last_stat_user_ctrl;
user_ctrl &= ~(BIT_USER_CTRL_FIFO_RESET | BIT_USER_CTRL_FIFO_EN);
if (_mpu_type == Invensense_ICM20789) {
// setup to allow for barometer
user_ctrl &= ~BIT_USER_CTRL_I2C_MST_EN;
}
_dev->set_speed(AP_HAL::Device::SPEED_LOW);
_register_write(MPUREG_FIFO_EN, 0);
_register_write(MPUREG_USER_CTRL, user_ctrl);