aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: updated for heater changes

Browse Source
This commit is contained in:
Andrew Tridgell 2019-11-02 13:32:59 +11:00 committed by Randy Mackay
parent 6d2d6d7454
commit b47bb11a5f
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
View File

@ -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
}
/*