From 90b0d769f8c0ec9729b4dcaead8ddb899fad7602 Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
 <tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sun, 3 Jul 2011 12:00:45 +0000
Subject: [PATCH] compass: fixed normal operation mode change for 5883L

We need to set the right rates after config too. Thanks to Randy for
spotting this one

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2737 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 07144631a0..12ae835dfa 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -120,7 +120,11 @@ AP_Compass_HMC5843::init()
 	  // leave test mode
 	  Wire.beginTransmission(COMPASS_ADDRESS);
 	  Wire.send(ConfigRegA);
-	  Wire.send(NormalOperation);
+	  if (product_id == AP_COMPASS_TYPE_HMC5843) {
+		 Wire.send(NormalOperation);
+	  } else {
+		 Wire.send(SampleAveraging_8<<5 | DataOutputRate_75HZ<<2 | NormalOperation);
+	  }
 	  Wire.endTransmission();
 	  delay(50);