From 4e2028c32fa1c73c2205303e901b8ef745f521d0 Mon Sep 17 00:00:00 2001 From: Georgii Staroselskii Date: Tue, 17 Oct 2017 21:10:05 +0300 Subject: [PATCH] AP_HAL: Edge: enable Heat PWM --- libraries/AP_HAL/board/linux.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h index e0e1c35845..3898d33468 100644 --- a/libraries/AP_HAL/board/linux.h +++ b/libraries/AP_HAL/board/linux.h @@ -346,6 +346,13 @@ /* HMC5843 can be an external compass */ #define HAL_COMPASS_HMC5843_I2C_BUS 1 #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E +#define HAL_IMU_TEMP_DEFAULT 55 +#define HAL_HAVE_IMU_HEATER 1 +#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM +#define HAL_LINUX_HEAT_PWM_NUM 15 +#define HAL_LINUX_HEAT_KP 20000 +#define HAL_LINUX_HEAT_KI 6 +#define HAL_LINUX_HEAT_PERIOD_NS 2040816 #else #error "no Linux board subtype set" #endif