AP_Compass: restore low speed change on register read failure

2012-12-08 15:18:45 +11:00 · 2012-12-08 15:18:45 +11:00 · b70f7f57ba
commit b70f7f57ba
parent 7b9b088261
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@ -73,6 +73,9 @@ bool AP_Compass_HMC5843::read_raw()
    uint8_t buff[6];

    if (hal.i2c->readRegisters(COMPASS_ADDRESS, 0x03, 6, buff) != 0) {
+        if (healthy) {
+			hal.i2c->setHighSpeed(false);
+        }
        healthy = false;
        return false;
    }