No IMU was found at start-up
What ArduPilot says:
- INS: unable to initialise driver
- Config Error: INS: unable to initialise driver
No IMU, the chip with the gyros and accelerometers, answered at start-up. ArduPilot cannot work without one: it stops with a configuration error, repeats this message and will not arm. Parameters can still be read and changed.
What to do, most likely first
The firmware was built for another board, or for another revision of this board with a different IMU.
CheckCompare the board name in the firmware with what is printed on the board; makers often sell several revisions under one name.
FixFlash the firmware for exactly this board and revision.
INS_ENABLE_MASKswitches off every IMU the board has.Check
INS_ENABLE_MASKis not 127, its default.FixSet
INS_ENABLE_MASKto 127 and reboot.The IMU is dead: a crash, water or a manufacturing fault.
CheckThe right firmware is on the board and the message stays.
FixReplace the flight controller.
Parameters to look at
| Parameter | What it is |
|---|---|
INS_ENABLE_MASK | IMU enable mask |
Where to do it:Firmware InspectorFirmware Builder
The code that sends it
INS: unable to initialise driver
libraries/AP_InertialSensor/AP_InertialSensor.cpp AP_InertialSensor::detect_backends() · Open in ArduPilot Copter-4.7.1
Config Error: INS: unable to initialise driver
libraries/AP_InertialSensor/AP_InertialSensor.cpp AP_InertialSensor::detect_backends() · Open in ArduPilot Copter-4.7.1