Since this code already used this methods '''while(not_error);''' I don't think this is a reason not to merge it.

The better approach is how this is done in the mpu9150 for example: https://github.com/TauLabs/TauLabs/blob/next/flight/PiOS/Common/pios_mpu9150.c#L195

so if something goes wrong then the panic is triggered.