From 36ea872e72b6429a900516f71b3ee1fddfc701bf Mon Sep 17 00:00:00 2001 From: Alex Klimaj Date: Thu, 2 May 2024 14:52:26 -0700 Subject: [PATCH] drivers: adis16507 reschedule reset after failed self test --- src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp index c12e8d356d..dff2c7f4f8 100644 --- a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp +++ b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp @@ -172,7 +172,9 @@ void ADIS16507::RunImpl() const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT); if (DIAG_STAT != 0) { - PX4_ERR("DIAG_STAT: %#X", DIAG_STAT); + PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT); + _state = STATE::RESET; + ScheduleDelayed(3_s); } else { PX4_DEBUG("self test passed");