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AP_InertialSensor: ICM56686 FIFO_CONFIG4 uses bit0 per DS-000563

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Revert FIFO_TMST_FSYNC_EN to 0x01. ICM-56686 FIFO_CONFIG4 bit0 is TMST/FSYNC
and bit1 is compression (DS-000563 v1.1); the 45686 bit map does not apply.
This commit is contained in:
g945643frankie
2026-09-15 11:11:00 +10:00
committed by Andrew Tridgell
parent 1e6288eaf1
commit a0802443c3
1 changed files with 4 additions and 2 deletions
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libraries/AP_InertialSensor/AP_InertialSensor_Invensensev3.cpp
+4 -2
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@@ -1056,8 +1056,10 @@ void AP_InertialSensor_Invensensev3::set_filter_and_scaling_icm456xy(void)
register_write_bank_icm456xy(INV3BANK_456_IPREG_TOP1_ADDR, 0x58, reg | 0x01);
if (inv3_type == Invensensev3_Type::ICM56686) {
// FIFO_TMST_FSYNC_EN is bit1 (0x02); bit0 is fifo_es0_6b_9b. compression left disabled
register_write(reg456(INV3REG_456_FIFO_CONFIG4), 0x02, true);
// DS-000563 v1.1 §23.36 FIFO_CONFIG4 @ 0x26: bit0 FIFO_TMST_FSYNC_EN, bit1 FIFO_COMP_EN.
// (ICM-45686 map differs: bit0 fifo_es0_6b_9b, bit1 fifo_tmst_fsync_en.)
// Enable timestamp/FSYNC field; leave compression disabled.
register_write(reg456(INV3REG_456_FIFO_CONFIG4), 0x01, true);
}
uint8_t fifo_config = (1U<<2 | 1U<<1); // FIFO_ACCEL_EN | FIFO_GYRO_EN, FIFO_IF_EN disabled