altos: Don't start ADC ring until the other sensors have a valid value

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

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index df400fcb096fa1be1130ca67e71d04191a0bde4e..065ed2214e3d02dd5cb96cc2b6728c1a35676b32 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -246,6 +246,7 @@ ao_mpu6000_setup(void)
 }
 
 struct ao_mpu6000_sample ao_mpu6000_current;
+uint8_t ao_mpu6000_valid;
 
 static void
 ao_mpu6000(void)
@@ -257,6 +258,7 @@ ao_mpu6000(void)
                ao_mpu6000_sample(&ao_mpu6000_next);
                ao_arch_critical(
                        ao_mpu6000_current = ao_mpu6000_next;
+                       ao_mpu6000_valid = 1;
                        );
                ao_delay(0);
        }
@@ -288,6 +290,7 @@ void
 ao_mpu6000_init(void)
 {
        ao_mpu6000_configured = 0;
+       ao_mpu6000_valid = 0;
 
        ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
        ao_cmd_register(&ao_mpu6000_cmds[0]);