From b70f7f57bada0b1ad4d1d15689b09ef09e0834ba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 8 Dec 2012 15:18:45 +1100
Subject: [PATCH] AP_Compass: restore low speed change on register read failure

---
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index d0f8794bb5..6b85f4eb88 100644
--- 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;
     }