Fix IMU sensor functions to propagate failure status

UCSD-E4E · Jan 13, 2025 · 5d13042 · 5d13042
1 parent 6f4dd25
commit 5d13042
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/src/imu/imu.cpp b/src/imu/imu.cpp
@@ -53,6 +53,15 @@ void setupICM(void)
 bool getAccelerometer(float *acc_x, float *acc_y, float *acc_z)
 {
 #if SF_PLATFORM == SF_PLATFORM_PARTICLE
+
+    myICM.getAGMT();
+
+    if (myICM.status != ICM_20948_Stat_Ok)
+    {
+        SF_OSAL_printf("Failed to get accelerometer data");
+        return false;
+    }
+
     ICM_20948_AGMT_t agmt = myICM.getAGMT();
 
     *acc_x = getAccMG(agmt.acc.axes.x, agmt.fss.a);