Merge branch 'master' into pwmin-new

[fw/altos] / src / drivers / ao_mpu6000.c

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index b3e284e0bfb2988f0ff7e40e525c4a892a736704..495967057336ef8930263467cb3cbdfc15850e4f 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -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();