From db304480d996c134fbc2525e5bc96a08178275a9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 20 May 2014 11:14:38 +1000
Subject: lsm303d: disable check_extremes code

this could trigger with a bungee launch, and could cause higher
latency due to SD card writes
---
 src/drivers/lsm303d/lsm303d.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/drivers/lsm303d/lsm303d.cpp')

diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 8bf76dcc3..56baf3274 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -75,6 +75,10 @@
 #endif
 static const int ERROR = -1;
 
+// enable this to debug the buggy lsm303d sensor in very early
+// prototype pixhawk boards
+#define CHECK_EXTREMES 0
+
 /* SPI protocol address bits */
 #define DIR_READ				(1<<7)
 #define DIR_WRITE				(0<<7)
@@ -830,7 +834,9 @@ LSM303D::read(struct file *filp, char *buffer, size_t buflen)
 		 */
 		while (count--) {
 			if (_accel_reports->get(arb)) {
+#if CHECK_EXTREMES
 				check_extremes(arb);
+#endif
 				ret += sizeof(*arb);
 				arb++;
 			}
-- 
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