Hello everyone, I am new to this topic, I want to use ap_periph to create my own board based on stm32l431rct6 to communicate with the flight controller via CAN, but I did not find any information about using IMU with i2c in examples of other boards or other sources, although it seems like the AP_InertialSensors library assumes such interaction, but I could not connect this sensor in the hwdef.dat file “IMU Invensensev2 I2C:0:0x68” this way (sensor icm20948), I also tried “HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensensev2, 0, 0x68, ROTATION_NONE)”, but unfortunately this option did not work either. Can you please tell me if it is possible to connect IMU sensors via i2c and if so, how to describe it in the hwdef.dat file. Thanks in advance!