From 1ea4c6938c47642588efbaba7cde4c4045d17027 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Nov 2016 21:54:56 +1100
Subject: [PATCH] AP_InertialSensor: allow auxiliary bus with fast sampling
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 19b56ddcb3..15cf78f528 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -292,7 +292,7 @@ void AP_InertialSensor_MPU9250::_fifo_enable()
bool AP_InertialSensor_MPU9250::_has_auxiliary_bus()
{
- return _dev->bus_type() != AP_HAL::Device::BUS_TYPE_I2C && !_fast_sampling;
+ return _dev->bus_type() != AP_HAL::Device::BUS_TYPE_I2C;
}
void AP_InertialSensor_MPU9250::start()
--
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