aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ArduCopter: bug fix to DMP initialisation (it was freezing due to SPI bus conflicts)

Browse Source
This commit is contained in:
rmackay9 2012-09-28 18:34:23 +09:00
parent d0177688b4
commit 2fd9022f03
1 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
View File

@ -594,6 +594,11 @@ void AP_InertialSensor_MPU6000::dmp_init()
return; return;
} }
// suspend timer
if( _scheduler != NULL ) {
_scheduler->suspend_timer();
}
// load initial values into DMP memory // load initial values into DMP memory
dmp_load_mem(); dmp_load_mem();
@ -640,6 +645,11 @@ void AP_InertialSensor_MPU6000::dmp_init()
// dmp initialisation complete // dmp initialisation complete
_dmp_initialised = true; _dmp_initialised = true;
// resume timer
if( _scheduler != NULL ) {
_scheduler->resume_timer();
}
} }
// dmp_reset - reset dmp (required for changes in gains or offsets to take effect) // dmp_reset - reset dmp (required for changes in gains or offsets to take effect)