AP_BoardConfig: added BRD_IMU_TARGTEMP

set target temperature for IMU

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -102,6 +102,15 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     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
     // @DisplayName: Channels to which ignore the safety switch state
@@ -247,4 +256,9 @@ void AP_BoardConfig::init()
     /* configure the VRBRAIN driver for the right number of PWMs */
 
 #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);
 }

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;
 };