From e2ad1bbc919143179469e7f6c515fffe5cf0b096 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 9 Jul 2020 17:34:51 -0400
Subject: [PATCH] bmi055: accel periodically read temperature

---
 src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
index c26c2cf829..14146d06b3 100644
--- a/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
+++ b/src/drivers/imu/bosch/bmi055/BMI055_Accelerometer.cpp
@@ -223,6 +223,13 @@ void BMI055_Accelerometer::RunImpl()
 					perf_count(_bad_register_perf);
 					Reset();
 				}
+
+			} else {
+				// periodically update temperature (~1 Hz)
+				if (hrt_elapsed_time(&_temperature_update_timestamp) >= 1_s) {
+					UpdateTemperature();
+					_temperature_update_timestamp = now;
+				}
 			}
 		}