i’m using pixhwack2.And i found the heater of register in imu can’t be used by looking the code.and see some document like :https://github.com/PX4/Firmware/issues/5963 “Pixhawk 2.1 IMU Heater Support”
so i found a document in "Thermal Calibration and Compensation " https://docs.px4.io/en/advanced_config/sensor_thermal_calibration.html
but i found the funciton “got_temperature_calibration_command” can’t be called anyway.
The function got_temperature_calibration_command be called by the command whtch sent by QGC,But the Qgc only sent
VEHICLE_CMD_PREFLIGHT_CALIBRATION without any param.