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Merge pull request #107 from PX4/gyros_parallel 

Made MPU-6000 gyro optional
This commit is contained in:
px4dev 2012-12-23 11:25:15 -08:00
parent f40e4d13aa a8451a2d18
commit d5aa763118
1 changed files with 9 additions and 3 deletions
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12
apps/drivers/mpu6000/mpu6000.cpp
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@ -446,8 +446,12 @@ MPU6000::init()
// write_reg(MPUREG_PWR_MGMT_1,MPU_CLK_SEL_PLLGYROZ);
usleep(1000);
/* do CDev init for the gyro device node */
ret = _gyro->init();
/* do CDev init for the gyro device node, keep it optional */
int gyro_ret = _gyro->init();
if (gyro_ret != OK) {
_gyro_topic = -1;
}
return ret;
}
@ -938,7 +942,9 @@ MPU6000::measure()
/* and publish for subscribers */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &_accel_report);
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
if (_gyro_topic != -1) {
orb_publish(ORB_ID(sensor_gyro), _gyro_topic, &_gyro_report);
}
/* stop measuring */
perf_end(_sample_perf);