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AP_InertialSensor: added paranoid check for DRDY pin

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This commit is contained in:
Andrew Tridgell 2014-07-07 16:44:14 +10:00
parent 549e08446a
commit d1ba78002d
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
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@ -392,6 +392,13 @@ void AP_InertialSensor_MPU9250::_read_data_transaction() {
_spi->transaction((const uint8_t *)&tx, (uint8_t *)&rx, sizeof(rx));
if (_drdy_pin) {
if (_drdy_pin->read() != 0) {
// data ready should have gone low after a read
printf("MPU9250: DRDY didn't go low\n");
}
}
/*
detect a bad SPI bus transaction by looking for all 14 bytes
zero, or the wrong INT_STATUS register value. This is used to