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d05e3a4a26
* feat(boards/ark_fpv): add FMUID 1 LSM6DSV32X Rev 1 increments FMUID and replaces the IIM-42653 with an LSM6DSV32X on the same SPI1 pads. Configure the 32X at ±32 g / ±4000 dps. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> * feat(drivers/lsm6dsv): run 32X at 7.68 kHz with PX4-owned filtering Match IIM-42653-style raw data: HAODR 7680 Hz, disable accel LPF2, 10 MHz SPI (device max), and exact FS/32768 accel plus 140 mdps/LSB gyro scales. Periodically re-check config registers like the TDK drivers. Assisted-by: Grok:grok-4.6 Signed-off-by: alexklimaj <alex@arkelectron.com> * fix(drivers/lsm6dsv): keep the accel LPF2 at ODR/10 PX4 has no anti-alias stage of its own: the FIFO is decimated to the publish rate with a plain mean and the software cutoffs run after that, so with LPF2 off the accel is flat to ODR/2 (3840 Hz on the 32X) and that content folds into the published stream. ODR/10 is the nearest match to the 585 Hz AAF the Invensense drivers use, and to what the rev 0 ARK FPV IIM-42653 flies with. The gyro is unchanged: its LPF2 is fixed by ODR at 537 Hz. * fix(drivers/lsm6dsv): validate complete register fields Runtime checks must detect changes to zero-valued rate, range, and filter bits. Include register faults in the published IMU error counts so health reporting retains the fault history after recovery. Assisted-by: Codex:gpt-6 Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: alexklimaj <alex@arkelectron.com> Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>