From 5d94172ada4ef1e2f90b773d7f464c3ec3abd77d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 2 Jan 2018 12:34:24 +1100 Subject: [PATCH] AP_InertialSensor: remove clearing of BIT_USER_CTRL_I2C_MST_EN bit in user_ctrl This bit should never be set on 20789 --- libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp index b138dbf9f3..0b30f21994 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp @@ -361,11 +361,6 @@ void AP_InertialSensor_Invensense::_fifo_reset() uint8_t user_ctrl = _last_stat_user_ctrl; user_ctrl &= ~(BIT_USER_CTRL_FIFO_RESET | BIT_USER_CTRL_FIFO_EN); - if (_mpu_type == Invensense_ICM20789) { - // setup to allow for barometer - user_ctrl &= ~BIT_USER_CTRL_I2C_MST_EN; - } - _dev->set_speed(AP_HAL::Device::SPEED_LOW); _register_write(MPUREG_FIFO_EN, 0); _register_write(MPUREG_USER_CTRL, user_ctrl);