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fast sampling introduces random IMU glitches, bisect search identifies https://github.com/ArduPilot/ardupilot/commit/9c2caf5b121f26a19e3ee5a7d0016e54d8b17fc1 disabling fast sampling fixes IMU back to expected behaviour. see: https://github.com/ArduPilot/ardupilot/issues/15090 https://discuss.ardupilot.org/t/shaking-horizon-and-jittering-servos/60420 for reference