HAL_ChibiOS: enable IMU temp control on CUAV-X7

5 years ago · 4ec1717361
1 changed files with 8 additions and 2 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/defaults.parm
@ -1,5 +1,11 @@
				@@ -1,5 +1,11 @@
-# close temperature compensation
-BRD_IMU_TARGTEMP -1
+# temperature control. We need lower P/I values
+# to prevent oscillation of the BMI088 temperature
+# the ADIS16470 is factory temperature calibrated,
+# but the BMI088 isn't, so temperature control is still
+# worthwhile
+BRD_IMU_TARGTEMP 45
+BRD_IMUHEAT_P 50
+BRD_IMUHEAT_I 0.07

 # turn on the CAN power monitoring(default)
 CAN_P1_DRIVER 1