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MPU6000: fixed minor timing bug 

if we miss a sample due to SPI contention we shouldn't update last
sample time
This commit is contained in:
Andrew Tridgell 2013-01-07 10:33:14 +11:00
parent f93a7d50eb
commit b39166b71a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -331,7 +331,6 @@ bool AP_InertialSensor_MPU6000::_data_ready()
void AP_InertialSensor_MPU6000::_poll_data(uint32_t now) void AP_InertialSensor_MPU6000::_poll_data(uint32_t now)
{ {
if (_data_ready()) { if (_data_ready()) {
_last_sample_time_micros = now;
_read_data_from_timerprocess(); _read_data_from_timerprocess();
} }
} }
@ -358,6 +357,7 @@ void AP_InertialSensor_MPU6000::_read_data_from_timerprocess()
semfail_ctr = 0; semfail_ctr = 0;
} }
_last_sample_time_micros = hal.scheduler->micros();
_read_data_transaction(); _read_data_transaction();
_spi_sem->give(); _spi_sem->give();