drivers: adis16507 reschedule reset after failed self test

PX4 · May 2, 2024 · 36ea872 · 36ea872
1 parent 224d6f2
commit 36ea872
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp b/src/drivers/imu/analog_devices/adis16507/ADIS16507.cpp
@@ -172,7 +172,9 @@ void ADIS16507::RunImpl()
 			const uint16_t DIAG_STAT = RegisterRead(Register::DIAG_STAT);
 
 			if (DIAG_STAT != 0) {
-				PX4_ERR("DIAG_STAT: %#X", DIAG_STAT);
+				PX4_ERR("self test failed, resetting. DIAG_STAT: %#X", DIAG_STAT);
+				_state = STATE::RESET;
+				ScheduleDelayed(3_s);
 
 			} else {
 				PX4_DEBUG("self test passed");