X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mpu6000.c;h=495967057336ef8930263467cb3cbdfc15850e4f;hb=mm-ms5611;hp=e8c80f12428943bf365977a03dbc9695656003ac;hpb=5ed88fb72c3e3ecf3333c700d838667db71cfbdc;p=fw%2Faltos

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index e8c80f12..49596705 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -225,7 +225,7 @@ ao_mpu6000_setup(void)
 	errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
 
 	if (errors)
-		ao_panic(AO_PANIC_SELF_TEST);
+		ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
 	/* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
 	ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -240,13 +240,15 @@ ao_mpu6000_setup(void)
 	ao_mpu6000_configured = 1;
 }
 
+struct ao_mpu6000_sample	ao_mpu6000_current;
+
 static void
 ao_mpu6000(void)
 {
 	ao_mpu6000_setup();
 	for (;;)
 	{
-		ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
+		ao_mpu6000_sample(&ao_mpu6000_current);
 		ao_arch_critical(
 			AO_DATA_PRESENT(AO_DATA_MPU6000);
 			AO_DATA_WAIT();