From 71fa064bc7dd054341ba95cbbda10fb076eb6b2c Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Tue, 17 Jan 2017 12:06:14 +0100
Subject: [PATCH] MPU6K: Fix device ID

---
 src/drivers/mpu6500/mpu6500.cpp | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/drivers/mpu6500/mpu6500.cpp b/src/drivers/mpu6500/mpu6500.cpp
index 3804a1fcc4..de36d2e84b 100644
--- a/src/drivers/mpu6500/mpu6500.cpp
+++ b/src/drivers/mpu6500/mpu6500.cpp
@@ -1833,8 +1833,8 @@ MPU6500::measure()
 	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;
 
-	/* Return class instance as a surrogate device ID */
-	arb.device_id = _accel_class_instance;
+	/* return device ID */
+	arb.device_id = _device_id;
 
 	grb.x_raw = report.gyro_x;
 	grb.y_raw = report.gyro_y;
@@ -1869,9 +1869,8 @@ MPU6500::measure()
 	grb.temperature_raw = report.temp;
 	grb.temperature = _last_temperature;
 
-	/* Use class instance as a surrogate hardware ID */
-	grb.device_id = _gyro->_gyro_class_instance;
-	grb.device_id = 0;
+	/* return device ID */
+	grb.device_id = _gyro->_device_id;
 
 	_accel_reports->force(&arb);
 	_gyro_reports->force(&grb);
@@ -2091,7 +2090,7 @@ start(bool external_bus, enum Rotation rotation, int range)
 fail:
 
 	if (*g_dev_ptr != nullptr) {
-		delete(*g_dev_ptr);
+		delete *g_dev_ptr;
 		*g_dev_ptr = nullptr;
 	}