Pr/4.7.0 beta4#32929
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Add driver for the ST LSM6DSV16X 6-axis IMU with support for: - WHOAMI-based chip detection (Invensensev3-style check_whoami) - HAODR mode-1 for high-accuracy ODR (1000-8000 Hz) - continuous FIFO burst reads - fast sampling via INS_FAST_SAMPLE / INS_GYRO_RATE - accelerometer second-stage LPF2
Add SPI device and IMU probe line for the LSM6DSV16X on Pixhawk6C. The driver auto-detects the chip via WHOAMI so both ICM42688 and LSM6DSV16X boards are supported without a board type change.
- Replace file-scope constexpr definitions with #define macros for register addresses, bit masks, and scaling factors, matching the style used by other IMU drivers in this library. - Keep the register and configuration definitions to preserve a clear mapping to the datasheet, even when some are not used in the current code path. - Avoid unused-const-variable warnings under Clang. - Rename LSM6DSV_EXPERIMENTAL_PRIMARY_FIFO to LSM6DSV_USE_FIFO for clarity and consistency. - Remove the unused _accel_range_g member. No change to the default runtime behavior.
Address review feedback and follow-up self-review findings. - Remove the unused polling path - Fix the FS_G_4000DPS register setting - Switch counter-based timing checks to wall-clock based logic - Tighten FIFO buffer allocation/lifetime handling - Clean up related initialization and SPI transfer documentation
reports of corruption on this device
9 tasks
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There they are. The PR was WIP before. |
Georacer
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As I mentioned in that PR, it conflicts when cherry-picked as-is. I don't feel confident to solve the conflicts on my own, so I asked for help from Leonard. |
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@Georacer i will look at that tonight and provide a PR that you can use to backport it. |
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Hi @bnsgeyer, As mentioned on the dev call, I don't think we should delay the beta release. We're doing regular releases so there will be another in 2 weeks! |
rmackay9
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bnsgeyer’s stale review
sorry, I'd like to keep releases going out at regular intervals so let's keep going. There will be another in 2 weeks!
tridge
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Apr 30, 2026
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oops I'm late! consider this an approval by me, too. |
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Summary
Cherry pick of commits marked for backport on 4.7.0-beta4 on top of the ArduPilot 4.7 branch, based on 4.7 Backports project's "4.7.0-beta4" column.
It includes:
It would be great if the devs involved could check that they are happy with the ReleaseNotes.txt
Classification & Testing (check all that apply and add your own)