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OptFlow_ADNS3080: check healthy before updating

This commit is contained in:
Randy Mackay 2014-10-15 16:27:06 +09:00
parent aa3e34a44a
commit f504ea7b30
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
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@ -171,6 +171,12 @@ void AP_OpticalFlow_ADNS3080::update(void)
{ {
uint8_t motion_reg; uint8_t motion_reg;
int16_t raw_dx, raw_dy; // raw sensor change in x and y position (i.e. unrotated) 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); _surface_quality = read_register(ADNS3080_SQUAL);
hal.scheduler->delay_microseconds(50); hal.scheduler->delay_microseconds(50);