OptFlow_ADNS3080: check healthy before updating

2014-10-15 16:27:06 +09:00 · 2014-10-15 16:27:06 +09:00 · f504ea7b30
parent aa3e34a44a
commit f504ea7b30
1 changed files with 6 additions and 0 deletions
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
@ -171,6 +171,12 @@ void AP_OpticalFlow_ADNS3080::update(void)
 {
    uint8_t motion_reg;
    int16_t  raw_dx, raw_dy;    // raw sensor change in x and y position (i.e. unrotated)
+
+    // return immediately if not healthy
+    if (!_flags.healthy) {
+        return;
+    }
+
    _surface_quality = read_register(ADNS3080_SQUAL);
    hal.scheduler->delay_microseconds(50);