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Andrew Tridgell
32f0d23369
Add --imu NAME to select which hwdef IMU devices are fitted, saved as the imus list in the launcher Config. Emulate the AK09916 behind the ICM20948 I2C master using the rotation from the hwdef COMPASS line so the compass device ID and orientation match real hardware. The quadplane test now uses the ICM42688, ICM20948 and ICM20649 of a real CubeOrangePlus, checks the detected sensor IDs against it, disables fast sampling to reduce CPU load, and turns off the IMU heater so its compass compensation does not offset the emulated AK09916.