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AP_InertialSensor: add fix for icm42688 stuck gyro issue #238

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@rmaia3d rmaia3d commented Jan 2, 2024

Since the SpeedyBeeF405 Wing has been added as a target, and it uses the ICM42688 IMU, I believe it's important to also include this. It should also work for any other FC that uses this same IMU.

The ICM42688 has a feature called AFSR where it automatically switches from a low noise, low range to higher noise, high range (of motion) mode if needed. During this switch, the gyro data output may freeze for a few milliseconds, leading to unwanted behaviour. This code is to disable the AFSR feature on IMU init.

This is directly based on #25332, which fixed #25025. I have just left out the gyro logging related changes.

This should also be added to master_custom_light branch, I believe.

The ICM42688 has a feature called AFSR where it automatically switches from a low noise, low range to higher noise, high range mode if needed. During this switch, the gyro data output may freeze for a few milliseconds, leading to unwanted behaviour. This code is to disable the AFSR feature on IMU init.
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ICM42688 "stuck" gyro values
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