From e546ce39e309624644373dbdd48e8ed1b7c00a21 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 2 Nov 2019 13:32:59 +1100
Subject: [PATCH] AP_InertialSensor: updated for heater changes

---
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 8f3c47f038..a293c1db5a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -2,6 +2,7 @@
 #include "AP_InertialSensor.h"
 #include "AP_InertialSensor_Backend.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_BoardConfig/AP_BoardConfig.h>
 #if AP_MODULE_SUPPORTED
 #include <AP_Module/AP_Module.h>
 #include <stdio.h>
@@ -483,10 +484,15 @@ void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float tem
     }
     _imu._temperature[instance] = temperature;
 
+#if HAL_HAVE_IMU_HEATER
     /* give the temperature to the control loop in order to keep it constant*/
     if (instance == 0) {
-        hal.util->set_imu_temp(temperature);
+        AP_BoardConfig *bc = AP::boardConfig();
+        if (bc) {
+            bc->set_imu_temp(temperature);
+        }
     }
+#endif
 }
 
 /*