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AP_InertialSensor: updated for heater changes

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This commit is contained in:
Andrew Tridgell 2019-11-02 13:32:59 +11:00
parent a11f2b5cfb
commit 236ce28339
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -2,6 +2,7 @@
#include "AP_InertialSensor.h" #include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h" #include "AP_InertialSensor_Backend.h"
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if AP_MODULE_SUPPORTED #if AP_MODULE_SUPPORTED
#include <AP_Module/AP_Module.h> #include <AP_Module/AP_Module.h>
#include <stdio.h> #include <stdio.h>
@ -483,11 +484,16 @@ void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float tem
} }
_imu._temperature[instance] = temperature; _imu._temperature[instance] = temperature;
#if HAL_HAVE_IMU_HEATER
/* give the temperature to the control loop in order to keep it constant*/ /* give the temperature to the control loop in order to keep it constant*/
if (instance == 0) { if (instance == 0) {
hal.util->set_imu_temp(temperature); AP_BoardConfig *bc = AP::boardConfig();
if (bc) {
bc->set_imu_temp(temperature);
} }
} }
#endif
}
/* /*
common gyro update function for all backends common gyro update function for all backends