From fb5cb87e9baa7ae003d4fe99d4e3b173b1e4d5bd Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 3 Jun 2017 11:52:10 -0400
Subject: [PATCH] enable -Wlogical-op and fix bmi160

---
 cmake/common/px4_base.cmake   | 2 +-
 src/drivers/bmi160/bmi160.cpp | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 2fbe2b4cba..778e195d47 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -332,6 +332,7 @@ function(px4_add_common_flags)
 		-Wfloat-equal
 		-Wformat-security
 		-Winit-self
+		-Wlogical-op
 		-Wmissing-declarations
 		-Wmissing-field-initializers
 		#-Wmissing-include-dirs # TODO: fix and enable
@@ -361,7 +362,6 @@ function(px4_add_common_flags)
 		list(APPEND warnings
 			-Wunused-but-set-variable
 			-Wformat=1
-			#-Wlogical-op # very verbose due to eigen
 			-Wdouble-promotion
 		)
 	endif()
diff --git a/src/drivers/bmi160/bmi160.cpp b/src/drivers/bmi160/bmi160.cpp
index 7cfabd04ba..cd9e9fe7a1 100644
--- a/src/drivers/bmi160/bmi160.cpp
+++ b/src/drivers/bmi160/bmi160.cpp
@@ -1131,7 +1131,7 @@ BMI160::measure()
 
 	check_registers();
 
-	if ((!(status && (0x80)))  && (!(status && (0x04)))) {
+	if ((!(status & (0x80))) && (!(status & (0x04)))) {
 		perf_end(_sample_perf);
 		perf_count(_duplicates);
 		_got_duplicate = true;