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ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)

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This commit is contained in:
rmackay9 2012-09-28 18:34:23 +09:00
parent a7c2ea1891
commit 921ab3fe12
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -594,6 +594,11 @@ void AP_InertialSensor_MPU6000::dmp_init()
return;
}
// suspend timer
if( _scheduler != NULL ) {
_scheduler->suspend_timer();
}
// load initial values into DMP memory
dmp_load_mem();
@ -640,6 +645,11 @@ void AP_InertialSensor_MPU6000::dmp_init()
// dmp initialisation complete
_dmp_initialised = true;
// resume timer
if( _scheduler != NULL ) {
_scheduler->resume_timer();
}
}
// dmp_reset - reset dmp (required for changes in gains or offsets to take effect)