Fix calling of IMU/MAG data when no new data available

2025-12-26 22:52:06 +01:00
parent 32966a3430
commit 90f561a62b
2 changed files with 5 additions and 1 deletions
@@ -86,8 +86,10 @@ class IMU : public SensorBase<IMUAnglesMsg> {
        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
        if (_imu->dataReady())
-        { 
+        {
            _imu->getAGMT();
+        } else {
+            return false;
        }
        #endif
        _msg.rpy[0] = _imu->accX();
@@ -48,6 +48,8 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
        if (_imu->dataReady())
        { 
            _imu->getAGMT();
+        } else {
+            return false;
        }
        #endif
        _msg.rpy[0] = _mag->magX();