From f61386ae432cde2b454f01ec45486baa48c3e5f0 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Mon, 10 Aug 2015 16:50:29 -0300
Subject: [PATCH] AP_Compass: HMC5843: release the lock before read

read() calls accumulate() which takes the lock by itself so we must
release it like we were doing before 669ae26 ("AP_Compass: encapsulated
calibration in HMC").
---
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index fcaa695b58..e17b373e99 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -260,6 +260,11 @@ AP_Compass_HMC5843::init()
         goto errout;
     }
 
+    _initialised = true;
+    _i2c_sem->give();
+    hal.scheduler->resume_timer_procs();
+
+    // perform an initial read
     read();
 
 #if 0
@@ -270,14 +275,9 @@ AP_Compass_HMC5843::init()
     _compass_instance = register_compass();
     set_dev_id(_compass_instance, _product_id);
 
-    _initialised = true;
-
-    _i2c_sem->give();
-    hal.scheduler->resume_timer_procs();
-
     return true;
-errout:
 
+errout:
     _i2c_sem->give();
     hal.scheduler->resume_timer_procs();
     return false;