diff options
Diffstat (limited to 'src/driver/mpu9250.cc')
| -rw-r--r-- | src/driver/mpu9250.cc | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc index 32f78c7..9b34ef4 100644 --- a/src/driver/mpu9250.cc +++ b/src/driver/mpu9250.cc @@ -201,7 +201,7 @@ void MPU9250::getGyro(float *dps_x, float *dps_y, float *dps_z) *dps_z = z * fsr_factor; } -void MPU9250::getRawMagnet(int *x, int *y, int *z) +bool MPU9250::getRawMagnet(int *x, int *y, int *z) { txbuf[0] = 0x02; i2c.xmit(0x0c, 1, txbuf, 8, rxbuf); @@ -210,9 +210,10 @@ void MPU9250::getRawMagnet(int *x, int *y, int *z) *x = ((signed int)rxbuf[2] << 8) + rxbuf[1]; *y = ((signed int)rxbuf[4] << 8) + rxbuf[3]; *z = ((signed int)rxbuf[6] << 8) + rxbuf[5]; + return true; } else { - *x = *y = *z = 0; + return false; } } |