From a74ba11114a0a72858363eebcd702d0f53d75223 Mon Sep 17 00:00:00 2001 From: slavic Date: Thu, 28 May 2026 21:17:59 +0300 Subject: [PATCH] Fixes MPU6500 not being detected on Ardu Nano ESP32 --- src/imu/MPUXXXX/MPUXXXX.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/imu/MPUXXXX/MPUXXXX.cpp b/src/imu/MPUXXXX/MPUXXXX.cpp index 204f82e2..01c47d69 100644 --- a/src/imu/MPUXXXX/MPUXXXX.cpp +++ b/src/imu/MPUXXXX/MPUXXXX.cpp @@ -68,8 +68,8 @@ int MPUXXXX::begin(MPU_Type type, SensorDevice *dev, int gyro_scale_dps, int acc Serial.printf("IMU: WARNING: MPU60X0 whoami mismatch, got:0x%02X expected:0x68, attempting autodetect\n",wai); _type = AUTO; } - if(_type == MPU6500 && wai != 0x70) { - Serial.printf("IMU: WARNING: MPU6500 whoami mismatch, got:0x%02X expected:0x70, attempting autodetect\n",wai); + if(_type == MPU6500 && (wai != 0x70 && wai != 0x30)) { + Serial.printf("IMU: WARNING: MPU6500 whoami mismatch, got:0x%02X expected:0x70 or 0x30, attempting autodetect\n",wai); _type = AUTO; } if(_type == MPU9150 && wai != 0x68) {