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AP_Compass: when I2c fails, don't retry for 1s

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This commit is contained in:
Andrew Tridgell 2012-01-04 16:35:47 +11:00
parent 9fb3b13af3
commit 60185509f4
2 changed files with 12 additions and 2 deletions
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13
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -246,11 +246,20 @@ AP_Compass_HMC5843::init()
// Read Sensor data
bool AP_Compass_HMC5843::read()
{
if (!healthy && !re_initialise()) {
return false;
if (!healthy) {
if (millis() < _retry_time) {
return false;
}
if (!re_initialise()) {
_retry_time = millis() + 1000;
return false;
}
}
if (!read_raw()) {
// try again in 1 second, and set I2c clock speed slower
_retry_time = millis() + 1000;
I2c.setSpeed(false);
return false;
}

1
libraries/AP_Compass/AP_Compass_HMC5843.h
View File

@ -53,6 +53,7 @@ class AP_Compass_HMC5843 : public Compass
virtual bool re_initialise(void);
bool read_register(uint8_t address, uint8_t *value);
bool write_register(uint8_t address, byte value);
uint32_t _retry_time; // when unhealthy the millis() value to retry at
public:
AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}