From 9fb3b13af32e6ae0aae006d78e6797e526306176 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 4 Jan 2012 16:35:16 +1100
Subject: [PATCH] AP_Baro: when I2c fails, don't retry for 1s

---
 libraries/AP_Baro/AP_Baro_BMP085.cpp | 12 ++++++++++++
 libraries/AP_Baro/AP_Baro_BMP085.h   |  1 +
 2 files changed, 13 insertions(+)

diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index e88016f362..611fe58885 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -152,7 +152,13 @@ void AP_Baro_BMP085::ReadPress()
 {
 	uint8_t buf[3];
 
+    if (!healthy && millis() < _retry_time) {
+        return;
+    }
+
 	if (I2c.read(BMP085_ADDRESS, 0xF6, 3, buf) != 0) {
+        _retry_time = millis() + 1000;
+        I2c.setSpeed(false);
 		healthy = false;
 		return;
 	}
@@ -197,7 +203,13 @@ void AP_Baro_BMP085::ReadTemp()
 {
 	uint8_t buf[2];
 
+    if (!healthy && millis() < _retry_time) {
+        return;
+    }
+
 	if (I2c.read(BMP085_ADDRESS, 0xF6, 2, buf) != 0) {
+        _retry_time = millis() + 1000;
+        I2c.setSpeed(false);
 		healthy = false;
 		return;
 	}
diff --git a/libraries/AP_Baro/AP_Baro_BMP085.h b/libraries/AP_Baro/AP_Baro_BMP085.h
index ea9e5742b0..8e08965996 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.h
+++ b/libraries/AP_Baro/AP_Baro_BMP085.h
@@ -50,6 +50,7 @@ class AP_Baro_BMP085 : public AP_Baro
 
 	uint8_t	_temp_index;
 	uint8_t	_press_index;
+    uint32_t _retry_time;
 
 	void Command_ReadPress();
 	void Command_ReadTemp();