cubepilot: enable heater for CubeOrange+

This adds everything required to use the heater on Orange+ but leaves it
disabled by default.

boards/cubepilot/cubeorangeplus/default.px4board

@@ -32,6 +32,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y

boards/cubepilot/cubeorangeplus/init/rc.board_defaults

@@ -12,6 +12,4 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default -s SENS_TEMP_ID 2621474
-
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -17,6 +17,9 @@ ms5611 -s -b 4 start
 
 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
+	# We need to use the temperature of the first isolated IMU for heater control.
+	param set-default SENS_TEMP_ID 2490402
+
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
 		icm42688p -s -b 4 -R 6 start -c 13
@@ -24,6 +27,8 @@ then
 else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
+
+	param set-default SENS_TEMP_ID 3407906
 fi
 
 # SPI1, body-fixed
@@ -33,7 +38,6 @@ then
 	ak09916 start -I -R 13
 else
 	icm20649 -s -b 1 start
-
 fi
 
 ms5611 -s -b 1 start

boards/cubepilot/cubeorangeplus/src/board_config.h

@@ -68,6 +68,8 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
 
+#define PX4IO_HEATER_ENABLED
+
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)