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AP_InertialSensor: replace panic() with return 

When blocking forever there's no reason to call panic later since it
will never going to be reached. This reduces binary size in a few bytes
since the message isn't required anymore.
This commit is contained in:
Lucas De Marchi 2016-11-21 18:00:24 -02:00
parent c2125a0078
commit 87c6d5da13
3 changed files with 6 additions and 6 deletions
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4
libraries/AP_InertialSensor/AP_InertialSensor_BMI160.cpp
View File

@ -153,7 +153,7 @@ void AP_InertialSensor_BMI160::start()
bool r; bool r;
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("BMI160: Unable to get semaphore"); return;
} }
r = _configure_accel(); r = _configure_accel();
@ -430,7 +430,7 @@ bool AP_InertialSensor_BMI160::_hardware_init()
hal.scheduler->delay(BMI160_POWERUP_DELAY_MSEC); hal.scheduler->delay(BMI160_POWERUP_DELAY_MSEC);
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("BMI160: Unable to get semaphore"); return false;
} }
_dev->set_speed(AP_HAL::Device::SPEED_LOW); _dev->set_speed(AP_HAL::Device::SPEED_LOW);

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -345,7 +345,7 @@ bool AP_InertialSensor_MPU6000::_has_auxiliary_bus()
void AP_InertialSensor_MPU6000::start() void AP_InertialSensor_MPU6000::start()
{ {
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("MPU6000: Unable to get semaphore"); return;
} }
// initially run the bus at low speed // initially run the bus at low speed
@ -723,7 +723,7 @@ bool AP_InertialSensor_MPU6000::_check_whoami(void)
bool AP_InertialSensor_MPU6000::_hardware_init(void) bool AP_InertialSensor_MPU6000::_hardware_init(void)
{ {
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("MPU6000: Unable to get semaphore"); return false;
} }
// setup for register checking // setup for register checking

4
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
View File

@ -296,7 +296,7 @@ bool AP_InertialSensor_MPU9250::_has_auxiliary_bus()
void AP_InertialSensor_MPU9250::start() void AP_InertialSensor_MPU9250::start()
{ {
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("MPU92500: Unable to get semaphore"); return;
} }
// initially run the bus at low speed // initially run the bus at low speed
@ -601,7 +601,7 @@ void AP_InertialSensor_MPU9250::_register_write(uint8_t reg, uint8_t val, bool c
bool AP_InertialSensor_MPU9250::_hardware_init(void) bool AP_InertialSensor_MPU9250::_hardware_init(void)
{ {
if (!_dev->get_semaphore()->take(0)) { if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("MPU9250: Unable to get semaphore"); return false;
} }
// setup for register checking // setup for register checking