Mike Schaefer

@NBL-NZ - i may be able to help modify the firmware for the 20948. have you already built a version of the schematic using the 20948?

@NBL-NZ - can you share your schematic? specifically, are you using SPI or I2C, and is AD0 tied to GND (I2C address --> 0x68) or VDD (I2C address --> 0x69)?

then the default address should be 0x69 a good starting point for src code would be to replace the components/drivers/i2c_devices/mpu6050/ folder w/a local/modified version of: - https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary (if you are...

NOTE: This is of particular interest for battery-operated mode...

Version: 01.01.01 - build 0000f4

initial testing of: Version: 01.01.99 Version 1.2 Preview - build 00013b confirms both die temperatures (accel/gyro + mag) log to file without causing crash

@sasha240100 - i cant make out the capacitors, motors, etc, in the schematic screen shot, but have you tried: - apply a Vbatt gain schedule/table to the max current/torque/speed to...

any luck finding a good copy of sixaxis pair tool?