From 1d0bcbf3a11d17c09039ed151aa64579613f4981 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 1 Mar 2023 15:05:21 +1100 Subject: [PATCH] hwdef: force enable heater on PixPilot-V6 --- libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat index bbd1a60eb9..2400dd0af0 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/PixPilot-V6/hwdef.dat @@ -230,6 +230,12 @@ define HAL_IMUHEAT_P_DEFAULT 50 define HAL_IMUHEAT_I_DEFAULT 0.07 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 +# compensate for magnetic field generated by the heater on internal IST8310 +define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0xa),Vector3f(0,2,-19)} + +# this board does not have heater detection pins, so force via features register +define AP_IOMCU_FORCE_ENABLE_HEATER 1 + # Enable all IMUs to be used and therefore three active EKF Lanes define HAL_EKF_IMU_MASK_DEFAULT 7