Some updates, it is no longer stock (f3349bd9) · Commits · Wenxi XU / Mambo

include/ares/ekf/imu_task.c

+4 −1

Original line number	Diff line number	Diff line
		@@ -136,7 +136,7 @@ static void InitQuaternion(const struct device accel_dev, const struct device

		#ifdef CONFIG_IMU_PWM_TEMP_CTRL
		pwm_set_pulse_dt(&pwm, 20000000);
		while (current_temp < target_temp) {
		for (int i = 0; i < 3; i++) {
		k_msleep(750);
		INS.accel_prev_cyc = INS.accel_curr_cyc;
		INS.accel_curr_cyc = k_cycle_get_32();
		@@ -144,6 +144,9 @@ static void InitQuaternion(const struct device accel_dev, const struct device
		IMU_temp_read(accel_dev);
		// IMU_temp_pwm_set(accel_dev);
		printk("Current Temp: %.2f, PWM: 100%%\n", (double)current_temp);
		if (current_temp >= target_temp) {
		break;
		}
		}
		#endif // CONFIG_IMU_PWM_TEMP_CTRL