From 24ffada340acaf02fa5cc16066866a4ff01df5d4 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sat, 8 Jul 2017 16:38:18 +0200
Subject: [PATCH] MPU9250: Hold off from reboot a little longer. Fixes #7555

---
 src/drivers/mpu9250/mag.cpp     | 1 -
 src/drivers/mpu9250/mpu9250.cpp | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/drivers/mpu9250/mag.cpp b/src/drivers/mpu9250/mag.cpp
index bc0f215a0b..393052585b 100644
--- a/src/drivers/mpu9250/mag.cpp
+++ b/src/drivers/mpu9250/mag.cpp
@@ -101,7 +101,6 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, const char
 	_mag_scale.z_scale  = 1.0f;
 
 	_mag_range_scale = MPU9250_MAG_RANGE_GA;
-	_debug_enabled = true;
 }
 
 MPU9250_mag::~MPU9250_mag()
diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp
index c75a51bd01..86c742b707 100644
--- a/src/drivers/mpu9250/mpu9250.cpp
+++ b/src/drivers/mpu9250/mpu9250.cpp
@@ -377,7 +377,7 @@ int MPU9250::reset()
 
 	// Hold off sampling for 4 ms
 	state = px4_enter_critical_section();
-	_reset_wait = hrt_absolute_time() + 4000;
+	_reset_wait = hrt_absolute_time() + 10000;
 
 	write_reg(MPUREG_PWR_MGMT_1, BIT_H_RESET);