/
imu_temp_ctrl.h
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/
imu_temp_ctrl.h
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/*
* Copyright (C) 2017 The Paparazzi team
* based on code from the Ardupilot project
*
* This file is part of paparazzi.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* @file modules/ins/imu_temp_ctrl.c
*
* INS temperature control on pwm 6 for Bebop2, pwm 10 for DISCO
*
* Controls the heating resistors in the Bebop2 to keep the MPU6050
* gyro/accel INS sensors at a constant temperature
*
*/
#ifndef IMU_TEMP_CTRL_H
#define IMU_TEMP_CTRL_H
#include "std.h"
void imu_temp_ctrl_init(void);
void imu_temp_ctrl_periodic(void);
#define IMU_TEMP_CTRL_DUTY_MAX 125000
#ifndef IMU_TEMP_TARGET
#define IMU_TEMP_TARGET 50
#endif
#define IMU_TEMP_CTRL_KP 20000
#define IMU_TEMP_CTRL_KI 60
#define PWM_HEAT_CHAN_BEBOP2 6
#define PWM_HEAT_CHAN_DISCO 10
#endif /* IMU_TEMP_CTRL_H */