Are all IMU's involved in regular flying incl. Auto-Tune?

Hi,
just wondering, if a FC has 3 IMU’s, are all IMU’s involved in regular flying - including auto-tune - or is my assumption correct that first IMU is the primary and the others are there just for failsafe reasons?
Thanks

You may find this interesting:

https://ardupilot.org/plane/docs/common-ek3-affinity-lane-switching.html

1 Like

@cbf123
Thanks for that.
I was scratching my head as I was sure I’ve seen something in that regards a few years ago but couldn’t find that information anymore.
:+1: