mirror of https://github.com/ArduPilot/ardupilot
AP_InertialSensor: fixed semaphore error on startup for MPU6000
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@ -217,7 +217,10 @@ uint16_t AP_InertialSensor_MPU6000::_init_sensor( Sample_rate sample_rate )
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* its caller. */
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_last_sample_time_micros = hal.scheduler->micros();
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hal.scheduler->delay(10);
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if (_spi_sem->take(100)) {
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_read_data_transaction();
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_spi_sem->give();
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}
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// start the timer process to read samples
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hal.scheduler->register_timer_process(AP_HAL_MEMBERPROC(&AP_InertialSensor_MPU6000::_poll_data));
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