iNavFlight · danilo19992 · Feb 17, 2026 · Feb 17, 2026 · Feb 17, 2026 · Feb 17, 2026
diff --git a/m b/m
@@ -0,0 +1 @@
+m m
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
@@ -69,13 +69,21 @@
 #define MPU6000_CS_PIN          PA4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
+
+
 #if defined(OMNIBUSF4V3_ICM)
+  // Driver base para ICM42605 (necesario para compilar el driver)
   #define USE_IMU_ICM42605
-  #define IMU_ICM42605_ALIGN      CW180_DEG
-  #define ICM42605_CS_PIN         PA4
-  #define ICM42605_SPI_BUS        BUS_SPI1
+
+  // Soporte para ICM42688P (tu placa)
+  #define USE_IMU_ICM42688P
+  #define IMU_ICM42688P_ALIGN      CW180_DEG
+  #define ICM42688P_CS_PIN         PA4
+  #define ICM42688P_SPI_BUS        BUS_SPI1
 #endif
 
+
+
 #if defined(OMNIBUSF4PRO) || defined(OMNIBUSF4V3) || defined(OMNIBUSF4V3_ICM)
   #define USE_IMU_MPU6000
   #define IMU_MPU6000_ALIGN       CW270_DEG

diff --git a/src/main/target/OMNIBUSF4V3_ICM/CMakeLists.txt b/src/main/target/OMNIBUSF4V3_ICM/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f405xg(OMNIBUSF4V3_ICM HSE_MHZ 8 SKIP_RELEASES)
diff --git a/src/main/target/OMNIBUSF4V3_ICM/target.h b/src/main/target/OMNIBUSF4V3_ICM/target.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#define OMNIBUSF4V3_ICM
+#include "target/OMNIBUSF4V3/target.h"
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		target_stm32f405xg(OMNIBUSF4V3_ICM HSE_MHZ 8 SKIP_RELEASES)