From 45c72eb4420b10028114f3a97becd5ffde90a470 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 15 Jun 2016 18:28:18 +1000
Subject: [PATCH] AP_BoardConfig: added BRD_IMU_TARGTEMP

set target temperature for IMU
---
 libraries/AP_BoardConfig/AP_BoardConfig.cpp | 16 +++++++++++++++-
 libraries/AP_BoardConfig/AP_BoardConfig.h   |  3 +++
 2 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 733a8e9e92..9787bcfaab 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -101,6 +101,15 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @Values: 0:Disabled,1:Enabled
     AP_GROUPINFO("CAN_ENABLE", 6, AP_BoardConfig, _can_enable, 0),
 #endif
+
+#if HAL_HAVE_IMU_HEATER
+    // @Param: IMU_TARGTEMP
+    // @DisplayName: Target IMU temperature
+    // @Description: This sets the target IMU temperature for boards with controllable IMU heating units. A value of -1 disables heating.
+    // @Range: -1 80
+    // @Units: degreesC
+    AP_GROUPINFO("IMU_TARGTEMP", 7, AP_BoardConfig, _imu_target_temperature, HAL_IMU_TEMP_DEFAULT),
+#endif
     
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     // @Param: SAFETY_MASK
@@ -246,5 +255,10 @@ void AP_BoardConfig::init()
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
     /* configure the VRBRAIN driver for the right number of PWMs */
 
-#endif    
+#endif
+
+    // let the HAL know the target temperature. We pass a pointer as
+    // we want the user to be able to change the parameter without
+    // rebooting
+    hal.util->set_imu_target_temp((int8_t *)&_imu_target_temperature);
 }
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 9fec0bcc63..69ac6e5f5f 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -35,4 +35,7 @@ private:
 #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 
 #endif
+
+    // target temperarure for IMU in Celsius, or -1 to disable
+    AP_Int8 _imu_target_temperature;
 };