From e2edad8a3fd0ec9c047de8b487be8c59cbcf7a0f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 23 Dec 2012 08:59:35 +1100
Subject: [PATCH] InertialSensor: fixed last sample time in MPU6000

we lost this in the final work on the DTR bug
---
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 8fa1d8a881..e4e814dc26 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -501,6 +501,7 @@ uint16_t AP_InertialSensor_MPU6000::num_samples_available()
         // Note that doing it this way means we doing the read out of
         // interrupt context, called from the main loop. This avoids
         // all possible conflicts with the DataFlash SPI bus
+        _last_sample_time_micros = hal.scheduler->micros();
         read_data();
     }
     return _count;