Hey @vidma, that starts to look like something!

Please submit the MPU9250 fix as a separate PR, then we can get that one in already. Apparently WAI 0x73 is MPU9255 and 0x71 is MPU9250. Did you test with a MPU9255 ?

⚠️ FYI: "This library does NOT support multiple instances of ICM456xx."

@qqqlab ready for review.

• axes orientation and scaling seem to be alright now, see apply accel/gyro scaling and fix axes directions vidma/madflight#2
• to make it compile I'm using icm45686 with copy-pasted code vidma/madflight#1
  • or if using the original lib code, apply these "patches": vidma@8e7402f and bugfix - infinite loop in ICM456xx::begin() tdk-invn-oss/motion.arduino.ICM45686#2

Hi @vidma

Thanks for your hard work on this, I really appreciate it. It looks fine to me, and I'll merge it. But, as I don't have this sensor I can't test it... So ideally: fly it before we merge it :-)

Currently madflight is single IMU only, so lack of multiple instances is not an issue.

I would still prefer that you copy-paste the fixed TDK sources into this PR:

• To get rid of a dependency which all users of madflight will have to install, but which only applies for this particular sensor
• To prevent madflight code from breaking because of future TDK lib changes
• To move ahead without first waiting for your PR on the TDK lib to get approved
• To optionally trim down the pedometer, gesture, etc. crud which is not needed here

To optionally trim down the pedometer, gesture, etc. crud which is not needed here

yup, indeed, we could try deleting that part of code to keep things simpler