HerePro: add support for publishing IMU data

Author: bugobliterator

HerePro/hwdef.dat

@@ -146,11 +146,13 @@ PB4 SPI1_MISO SPI1
 PD7 SPI1_MOSI SPI1
 PE9 MAG_CS CS
 SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
+SPIDEV  icm45686   SPI4 DEVID4  MPU_CS   MODE0  2*MHZ  8*MHZ
 
 
 define HAL_DEFAULT_INS_FAST_SAMPLE 5
 
 COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
+IMU Invensensev3 SPI:icm45686 ROTATION_NONE
 
 # Now setup the pins for the microSD card, if available.
 PC8 SDMMC1_D0 SDMMC1 SPEED_HIGH
@@ -253,3 +255,6 @@ define HAL_UART_MIN_RX_SIZE 8192
 define HAL_UART_STATS_ENABLED 1
 
 define SERIAL_USB_BUFFERS_SIZE 4096
+
+define AP_PERIPH_IMU_ENABLED TRUE
+define HAL_DEFAULT_INS_FAST_SAMPLE 5