From f5845cb037429e8f8327a1c3955d5705704d6d7f Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 9 Jun 2012 11:18:14 -0500
Subject: [PATCH] Fix self test for MPU6000 so it returns negative values per
 our standard

---
 flight/PiOS/Common/pios_mpu6000.c | 2 +-
 flight/PiOS/inc/pios_mpu6000.h    | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c
index f1268e83f..7df306d10 100644
--- a/flight/PiOS/Common/pios_mpu6000.c
+++ b/flight/PiOS/Common/pios_mpu6000.c
@@ -354,7 +354,7 @@ float PIOS_MPU6000_GetAccelScale()
  * \return 0 if test succeeded
  * \return non-zero value if test succeeded
  */
-uint8_t PIOS_MPU6000_Test(void)
+int32_t PIOS_MPU6000_Test(void)
 {
 	/* Verify that ID matches (MPU6000 ID is 0x69) */
 	int32_t mpu6000_id = PIOS_MPU6000_ReadID();
diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h
index 191b69ed5..317b8155b 100644
--- a/flight/PiOS/inc/pios_mpu6000.h
+++ b/flight/PiOS/inc/pios_mpu6000.h
@@ -154,7 +154,7 @@ extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const stru
 extern xQueueHandle PIOS_MPU6000_GetQueue();
 extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
 extern int32_t PIOS_MPU6000_ReadID();
-extern uint8_t PIOS_MPU6000_Test();
+extern int32_t PIOS_MPU6000_Test();
 extern float PIOS_MPU6000_GetScale();
 extern float PIOS_MPU6000_GetAccelScale();
 extern void PIOS_MPU6000_IRQHandler(void);