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HAL_PX4: limit IMU target temperature to 65

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This commit is contained in:
Andrew Tridgell 2016-09-05 12:59:50 +10:00
parent c0d21c5730
commit aafd1512e4
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_HAL_PX4/Util.cpp
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@ -196,8 +196,12 @@ void PX4Util::set_imu_temp(float current)
// experimentally tweaked for Pixhawk2
const float kI = 0.3f;
const float kP = 200.0f;
float target = (float)(*_heater.target);
// limit to 65 degrees to prevent damage
target = constrain_float(target, 0, 65);
float err = ((float)*_heater.target) - current;
float err = target - current;
_heater.integrator += kI * err;
_heater.integrator = constrain_float(_heater.integrator, 0, 70);