From 970d0ea2a3f4a345989129bd5892bf55eeb541a1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Mon, 16 Aug 2021 00:34:23 +0100
Subject: [PATCH] AP_BoardConfig: make sure heater is left off if disabled

---
 libraries/AP_BoardConfig/IMU_heater.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_BoardConfig/IMU_heater.cpp b/libraries/AP_BoardConfig/IMU_heater.cpp
index ca2dbecc33..221aa5c987 100644
--- a/libraries/AP_BoardConfig/IMU_heater.cpp
+++ b/libraries/AP_BoardConfig/IMU_heater.cpp
@@ -35,7 +35,10 @@ void AP_BoardConfig::set_imu_temp(float current)
     hal.util->set_imu_temp(current);
 
     if (target == -1) {
-        // nothing to do
+        // nothing to do, make sure heater is left off
+#if defined(HAL_HEATER_GPIO_PIN)
+        hal.gpio->write(HAL_HEATER_GPIO_PIN, false);
+#endif
         return;
     }