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Disable ASFR function on ICM426xx driver #9409

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DzikuVx merged 1 commit into master from dzikuvx-icm426xx-disable-afsr

Oct 26, 2023

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DzikuVx commented Oct 25, 2023

As in betaflight/betaflight#13132 and ArduPilot/ardupilot#25332

the ICM42688 has an "AFSR" feature (enabled by default) where it switches between a low-noise mode at angular rates below 100 deg/sec and a higher noise mode above that level. When it switches it causes the gyro to become "stuck" for between 1ms and 2ms, leading to a significant gyro bias that can under some circumstances lead to a crash of the vehicle if it is not able to switch to another IMU.


          Disable ASFR function on ICM426xx driver

f4d5c3b

DzikuVx added this to the 7.0 milestone

DzikuVx merged commit b67165e into master

14 checks passed

DzikuVx deleted the dzikuvx-icm426xx-disable-afsr branch

October 27, 2023 13:12

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