From b76ec8cc11cc005706d652e75e55b7198fd5848f Mon Sep 17 00:00:00 2001 From: Siddharth Purohit Date: Mon, 25 Feb 2019 17:22:18 +0530 Subject: [PATCH] AP_InertialSensor: fix slave register structure for Invensensev2 --- .../AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp index 71c56ce6b5..fac1920acd 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp @@ -725,10 +725,10 @@ bool AP_InertialSensor_Invensensev2::_hardware_init(void) AP_Invensensev2_AuxiliaryBusSlave::AP_Invensensev2_AuxiliaryBusSlave(AuxiliaryBus &bus, uint8_t addr, uint8_t instance) : AuxiliaryBusSlave(bus, addr, instance) - , _inv2_addr(INV2REG_I2C_SLV0_ADDR + _instance * 3) + , _inv2_addr(INV2REG_I2C_SLV0_ADDR + _instance * 4) , _inv2_reg(_inv2_addr + 1) , _inv2_ctrl(_inv2_addr + 2) - , _inv2_do(INV2REG_I2C_SLV0_DO + _instance) + , _inv2_do(_inv2_addr + 3) { }