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AP_InertialSensor_MPU6000: bug fix. DMP was being enabled by default so although the results were not being used, this caused a delay in the main loop

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This commit is contained in:
rmackay9 2012-08-28 17:00:03 +09:00
parent a4834b5219
commit 67252c8a9b
1 changed files with 1 additions and 3 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -461,9 +461,6 @@ void AP_InertialSensor_MPU6000::hardware_init()
delay(1); delay(1);
attachInterrupt(6,data_interrupt,RISING); attachInterrupt(6,data_interrupt,RISING);
// initialise DMP. Should we only do this when we know we want to use the DMP for attitude sensing as well?
dmp_init();
} }
float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval ) float AP_InertialSensor_MPU6000::_temp_to_celsius ( uint16_t regval )
@ -574,6 +571,7 @@ void AP_InertialSensor_MPU6000::dmp_register_write(uint8_t bank, uint8_t address
} }
// MPU6000 DMP initialization // MPU6000 DMP initialization
// this should be called after hardware_init if you wish to enable the dmp
void AP_InertialSensor_MPU6000::dmp_init() void AP_InertialSensor_MPU6000::dmp_init()
{ {
uint8_t regs[4]; // for writing to dmp uint8_t regs[4]; // for writing to dmp