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AP_InertialSensor_MPU6000: Add heat support

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Send current tempertaure to the Heater so the control loop sets the correct
temperature to the imu
This commit is contained in:
Julien BERAUD 2015-10-02 11:30:17 +02:00 committed by Andrew Tridgell
parent f231182cd9
commit b37c52f7a3
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
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@ -679,6 +679,8 @@ bool AP_InertialSensor_MPU6000::update( void )
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
_publish_temperature(_accel_instance, temp);
/* give the temperature to the control loop in order to keep it constant*/
hal.util->set_imu_temp(temp);
#if MPU6000_FAST_SAMPLING
if (_last_accel_filter_hz != _accel_filter_cutoff()) {