添加IMU传感器触发初始化的错误处理，确保在未启用PWM温控时记录错误信息并返回。 (5d20e161) · Commits · Wenxi XU / Mambo

include/ares/ekf/imu_task.c

+6 −1

Original line number	Diff line number	Diff line
		@@ -306,7 +306,12 @@ static struct sensor_trigger gyro_trig = {

		void IMU_Sensor_trig_init(const struct device accel_dev, const struct device gyro_dev)
		{
		#ifdef CONFIG_IMU_PWM_TEMP_CTRL
		if (!IS_ENABLED(CONFIG_IMU_PWM_TEMP_CTRL)) {
		LOG_ERR("IMU PWM TEMP CTRL is not enabled");
		return;
		}

		#if CONFIG_IMU_PWM_TEMP_CTRL
		pwm_set_pulse_dt(&pwm, 20000000);

		pid_reg_input(temp_pwm_pid, &current_temp, &target_temp);