From 76a3fd9a4e616c557cbd44a0b98c9ed83805f1c4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 30 Apr 2012 16:12:12 +1000
Subject: [PATCH] MPU6k: added suspend/resume on init
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index fd272c72b..e05948078 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -111,7 +111,9 @@ void AP_InertialSensor_MPU6000::init( AP_PeriodicProcess * scheduler )
{
if (_initialised) return;
_initialised = 1;
+ scheduler->suspend_timer();
hardware_init();
+ scheduler->resume_timer();
scheduler->register_process( &AP_InertialSensor_MPU6000::read );
}
--
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