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AP_BoardConfig: allow for hwdef.dat setting for IMU heater gains

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This commit is contained in:
Andrew Tridgell 2021-05-31 10:56:35 +10:00
parent d5dccaa734
commit c2a13213ae
1 changed files with 11 additions and 1 deletions
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12
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -30,6 +30,16 @@
#define HAL_WATCHDOG_ENABLED_DEFAULT false
#endif
#if HAL_HAVE_IMU_HEATER
#ifndef HAL_IMUHEAT_P_DEFAULT
#define HAL_IMUHEAT_P_DEFAULT 200
#endif
#ifndef HAL_IMUHEAT_I_DEFAULT
#define HAL_IMUHEAT_I_DEFAULT 0.3
#endif
#endif
extern "C" typedef int (*main_fn_t)(int argc, char **);
class AP_BoardConfig {
@ -238,7 +248,7 @@ private:
struct {
AP_Int8 imu_target_temperature;
uint32_t last_update_ms;
AC_PI pi_controller{200, 0.3, 70};
AC_PI pi_controller{HAL_IMUHEAT_P_DEFAULT, HAL_IMUHEAT_I_DEFAULT, 70};
uint16_t count;
float sum;
float output;