Merge pull request #2024 from mikeller/fix_gyro_data_ready_without_exti

Fixed gyro update / arming for targets without gyro interrupt.
2017-01-06 11:34:55 +01:00 · 2017-01-06 11:34:55 +01:00 · e82785d76f
parent bdc4483151 747219e0df
commit e82785d76f
1 changed files with 7 additions and 0 deletions
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@ -400,9 +400,16 @@ static bool gyroUpdateISR(gyroDev_t* gyroDev)
 void gyroUpdate(void)
 {
    // range: +/- 8192; +/- 2000 deg/sec
+#if defined(MPU_INT_EXTI)
    if (!gyro.dev.dataReady || !gyro.dev.read(&gyro.dev)) {
        return;
    }
+#else
+    if (!gyro.dev.read(&gyro.dev)) {
+        return;
+    }
+#endif
+
    const bool calibrationComplete = isGyroCalibrationComplete();
    if (calibrationComplete) {
 #if defined(GYRO_USES_SPI) && defined(USE_MPU_DATA_READY_SIGNAL)