diff options
| -rw-r--r-- | src/drivers/l3gd20/l3gd20.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index 9b4bda0ae..ce381807f 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -342,7 +342,11 @@ L3GD20::init() write_reg(ADDR_CTRL_REG5, 0); write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */ - write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */ + + /* disable FIFO. This makes things simpler and ensures we + * aren't getting stale data. It means we must run the hrt + * callback fast enough to not miss data. */ + write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_BYPASS_MODE); set_range(2000); /* default to 2000dps */ set_samplerate(0); /* max sample rate */ |