From 407bb5933b22d8f6b0b66475383c11047e52cd23 Mon Sep 17 00:00:00 2001
From: Julien BERAUD <julien.beraud@parrot.com>
Date: Fri, 31 Jul 2015 18:27:03 +0200
Subject: [PATCH] AP_Compass_AK8963: suspend timer while reading

Protection in case a timer falls while reading data, because it could end up
with corrupted data
---
 libraries/AP_Compass/AP_Compass_AK8963.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index 470c044b8a..abd4b4bae4 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -202,10 +202,11 @@ void AP_Compass_AK8963::read()
         return;
     }
 
+    hal.scheduler->suspend_timer_procs();
     auto field = _get_filtered_field();
-    _make_factory_sensitivity_adjustment(field);
-
     _reset_filter();
+    hal.scheduler->resume_timer_procs();
+    _make_factory_sensitivity_adjustment(field);
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
     field.rotate(ROTATION_YAW_90);