Diff: inv_mpu_dmp_motion_driver.c

Revision:

2:6c7eb2f19ada

Parent:

0:1b6dab73c06b

diff -r 6aedb937cb38 -r 6c7eb2f19ada inv_mpu_dmp_motion_driver.c
--- a/inv_mpu_dmp_motion_driver.c	Thu Nov 05 01:38:50 2015 +0000
+++ b/inv_mpu_dmp_motion_driver.c	Fri Nov 27 21:12:04 2015 +0000
@@ -1281,8 +1281,8 @@
     sensors[0] = 0;
 
     /* Get a packet. */
-    if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more))
-        return -1;
+    int ret = mpu_read_fifo_stream(dmp.packet_length, fifo_data, more); 
+    if(ret) return ret;
 
     /* Parse DMP packet. */
     if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) {
@@ -1318,7 +1318,7 @@
             /* Quaternion is outside of the acceptable threshold. */
             mpu_reset_fifo();
             sensors[0] = 0;
-            return -1;
+            return -2;
         }
         sensors[0] |= INV_WXYZ_QUAT;
 #endif