From b37c52f7a34352442ccf8ed727f62d8c39c98a9a Mon Sep 17 00:00:00 2001
From: Julien BERAUD <julien.beraud@parrot.com>
Date: Fri, 2 Oct 2015 11:30:17 +0200
Subject: [PATCH] AP_InertialSensor_MPU6000: Add heat support
Send current tempertaure to the Heater so the control loop sets the correct
temperature to the imu
---
libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 9cdb253ad..220654de6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -679,6 +679,8 @@ bool AP_InertialSensor_MPU6000::update( void )
_publish_accel(_accel_instance, accel);
_publish_gyro(_gyro_instance, gyro);
_publish_temperature(_accel_instance, temp);
+ /* give the temperature to the control loop in order to keep it constant*/
+ hal.util->set_imu_temp(temp);
#if MPU6000_FAST_SAMPLING
if (_last_accel_filter_hz != _accel_filter_cutoff()) {
--
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