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AP_InertialSensor: added support using the 2nd IMU for heater control

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Andrew Tridgell 2023-03-04 07:42:21 +11:00 committed by Peter Barker
parent eb4f544535
commit 34a52142c8
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -12,6 +12,10 @@
#define SENSOR_RATE_DEBUG 0
#ifndef AP_HEATER_IMU_INSTANCE
#define AP_HEATER_IMU_INSTANCE 0
#endif
const extern AP_HAL::HAL& hal;
AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
@ -731,7 +735,7 @@ void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float tem
#if HAL_HAVE_IMU_HEATER
/* give the temperature to the control loop in order to keep it constant*/
if (instance == 0) {
if (instance == AP_HEATER_IMU_INSTANCE) {
AP_BoardConfig *bc = AP::boardConfig();
if (bc) {
bc->set_imu_temp(temperature);