Showing the changes to interface/src/SerialInterface.cpp (1 of 3 files). Show all
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| @@ -225,7 +225,10 @@ void SerialInterface::readData(float deltaTime) { · 224 unmodified lines | |||
| 225 | 225 | ||
| 226 | // ask the invensense for raw gyro data | 226 | // ask the invensense for raw gyro data |
| 227 | short accelData[3]; | 227 | short accelData[3]; |
| 228 | mpu_get_accel_reg(accelData, 0); | 228 | if (mpu_get_accel_reg(accelData, 0)) { |
| 229 | _active = false; | ||
| 230 | return; // disconnected | ||
| 231 | } | ||
| 229 | 232 | ||
| 230 | const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH; | 233 | const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH; |
| 231 | // From MPU-9150 register map, with setting on | 234 | // From MPU-9150 register map, with setting on |