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| author | px4dev <px4@purgatory.org> | 2012-12-23 11:25:15 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-12-23 11:25:15 -0800 |
| commit | d5aa7631187d441084b637cd9543267eaf3a07db (patch) | |
| tree | 7b255a48f45a5fa121a55a950d7135a2ed76fbf3 | |
| parent | f40e4d13aa1c6cd854b848f1cd0c3a017e719138 (diff) | |
| parent | a8451a2d1873b1e242d55926a70dae0d65024bbe (diff) | |
| download | px4-firmware-d5aa7631187d441084b637cd9543267eaf3a07db.tar.gz px4-firmware-d5aa7631187d441084b637cd9543267eaf3a07db.tar.bz2 px4-firmware-d5aa7631187d441084b637cd9543267eaf3a07db.zip | |
Merge pull request #107 from PX4/gyros_parallel
Made MPU-6000 gyro optional
| -rw-r--r-- | apps/drivers/mpu6000/mpu6000.cpp | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/apps/drivers/mpu6000/mpu6000.cpp b/apps/drivers/mpu6000/mpu6000.cpp index ed79440cc..55b7cfa85 100644 --- a/apps/drivers/mpu6000/mpu6000.cpp +++ b/apps/drivers/mpu6000/mpu6000.cpp @@ -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); |