From 26650724e4697bb6a75afb3d78db99a8825c0690 Mon Sep 17 00:00:00 2001
From: pip <pip>
Date: Mon, 27 Dec 2010 09:48:11 +0000
Subject: [PATCH] Fixed coding error on line 317 .. changed while (xxx & xxxx)
 to while (xxx && xxxx)

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2296 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/AHRS/ahrs.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/flight/AHRS/ahrs.c b/flight/AHRS/ahrs.c
index d8bbf0de8..337c7c57f 100644
--- a/flight/AHRS/ahrs.c
+++ b/flight/AHRS/ahrs.c
@@ -314,7 +314,8 @@ void ins_init_algorithm()
 
 	/* Ensure we get mag data in a timely manner */
 	uint16_t fail_count = 50; // 50 at 200 Hz is up to 0.25 sec
-	while(using_mags && !mag_data.updated & fail_count--) {
+	while (using_mags && !mag_data.updated && fail_count--)
+	{
 		get_accel_gyro_data();
 		AhrsPoll();
 	}