HAL_ChibiOS: lower gains on CubyOrange and Yellow heater

this should reduce the chance of baro oscillation due to rapid change in heater temperature
5 years ago · 0a81c48d9c
2 changed files with 8 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/defaults.parm
@ -9,3 +9,7 @@ BATT2_VOLT_MULT 12.02
				@@ -9,3 +9,7 @@ BATT2_VOLT_MULT 12.02
 ADSB_ENABLE 1
 SERIAL5_BAUD 57
 SERIAL5_PROTOCOL 1
+
+# lower heater gains
+BRD_IMUHEAT_I 0.07
+BRD_IMUHEAT_P 50
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeYellow/defaults.parm
@ -5,3 +5,7 @@ BATT_AMP_PERVLT 39.877
				@@ -5,3 +5,7 @@ BATT_AMP_PERVLT 39.877
 BATT_VOLT_MULT 12.02
 BATT2_AMP_PERVLT 39.877
 BATT2_VOLT_MULT 12.02
+
+# lower heater gains
+BRD_IMUHEAT_I 0.07
+BRD_IMUHEAT_P 50