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

2025-12-26 22:52:06 +01:00
parent da87d12588
commit d1c2e5f447
3 changed files with 13 additions and 3 deletions
@@ -142,8 +142,10 @@ 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();
@@ -75,6 +75,8 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
        if (_imu->dataReady())
        { 
            _imu->getAGMT();
+        } else {
+            return false;
        }
        #endif
        _msg.rpy[0] = _mag->magX();