diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index a82f1c7555..6cf6d95e1f 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -108,7 +108,9 @@ static void init_ardupilot() // #ifndef DESKTOP_BUILD I2c.begin(); - I2c.timeOut(20); + I2c.timeOut(5); + // initially set a fast I2c speed, and drop it on first failures + I2c.setSpeed(true); #endif SPI.begin(); SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde index b3a30b7a5e..5b802942d6 100644 --- a/ArduPlane/system.pde +++ b/ArduPlane/system.pde @@ -108,7 +108,9 @@ static void init_ardupilot() // #ifndef DESKTOP_BUILD I2c.begin(); - I2c.timeOut(20); + I2c.timeOut(5); + // initially set a fast I2c speed, and drop it on first failures + I2c.setSpeed(true); #endif SPI.begin(); SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate