From 2f01dfe81c5b64d417ed64305f1fb00d053c408a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 9 Nov 2016 12:16:54 +1100
Subject: [PATCH] AP_InertialSensor: fixed from review by Lucas
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 --
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h | 4 ++--
2 files changed, 2 insertions(+), 4 deletions(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 42add3715c..5d80c792dc 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -568,8 +568,6 @@ void AP_InertialSensor_MPU6000::_read_fifo()
uint16_t bytes_read;
uint8_t *rx = _fifo_buffer;
- //static_assert(MAX_DATA_READ <= 100, "Too big to keep on stack");
-
if (!_block_read(MPUREG_FIFO_COUNTH, rx, 2)) {
hal.console->printf("MPU60x0: error in fifo read\n");
return;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index e32348c78c..21077febb0 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -108,10 +108,10 @@ private:
AP_MPU6000_AuxiliaryBus *_auxiliary_bus;
// is this an ICM-20608?
- bool _is_icm_device:1;
+ bool _is_icm_device;
// are we doing more than 1kHz sampling?
- bool _fast_sampling:1;
+ bool _fast_sampling;
// last time we read temperature
uint32_t _last_temp_read_ms;
--
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