AP_Baro: do not take semaphore if HAL_INS_MPU60x0_NAME not set

7 years ago · 31d8b6ba64
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Baro/AP_Baro_ICM20789.cpp
+++ b/libraries/AP_Baro/AP_Baro_ICM20789.cpp
@ -121,11 +121,11 @@ bool AP_Baro_ICM20789::init()
				@@ -121,11 +121,11 @@ bool AP_Baro_ICM20789::init()

    debug("Looking for 20789 baro\n");

+#ifdef HAL_INS_MPU60x0_NAME
    if (!dev->get_semaphore()->take(0)) {
        AP_HAL::panic("PANIC: AP_Baro_ICM20789: failed to take serial semaphore for init");
    }

-#ifdef HAL_INS_MPU60x0_NAME
    /*
      Pressure sensor data can be accessed in the following mode:
      Bypass Mode: Set register INT_PIN_CFG (Address: 55 (Decimal); 37 (Hex)) bit 1 to value 1