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ArduCopter: only attempt to change settings of optical flow sensor if it has been successfully initialised

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This commit is contained in:
rmackay9 2012-12-11 00:14:29 +09:00
parent 628fb1da15
commit b170da34ec
1 changed files with 11 additions and 10 deletions
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21
ArduCopter/sensors.pde
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@ -54,17 +54,18 @@ static void init_optflow()
if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
g.optflow_enabled = false;
cliSerial->print_P(PSTR("\nFailed to Init OptFlow "));
}else{
// suspend timer while we set-up SPI communication
timer_scheduler.suspend_timer();
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
// resume timer
timer_scheduler.resume_timer();
}
// suspend timer while we set-up SPI communication
timer_scheduler.suspend_timer();
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
optflow.set_resolution(OPTFLOW_RESOLUTION); // set optical flow sensor's resolution
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
// resume timer
timer_scheduler.resume_timer();
#endif // OPTFLOW == ENABLED
}