From aa153054b7353a49051fb164711f24ddf78064d9 Mon Sep 17 00:00:00 2001
From: nwdepatie <nwdepatie@gmail.com>
Date: Tue, 4 Jun 2024 17:03:34 -0400
Subject: [PATCH] Account for bad reading

---
 CM7/Core/Src/encoder.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CM7/Core/Src/encoder.c b/CM7/Core/Src/encoder.c
index b6967b0..474eccc 100644
--- a/CM7/Core/Src/encoder.c
+++ b/CM7/Core/Src/encoder.c
@@ -85,7 +85,8 @@ void vEncoderObserver(void *pv_params)
 	for (;;)
 	{
         /* Retrieve SSI position */
-        encoder_get_angle_ssi(encoder, &ssi_position);
+        if (encoder_get_angle_ssi(encoder, &ssi_position));
+            continue;
 
         /* Fuse SSI position with incremental position */
         msg.payload.rotor_position = (ssi_position + encoder_get_angle_incr(encoder)) / 2;