> For the complete documentation index, see [llms.txt](https://agamrobotics.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://agamrobotics.gitbook.io/docs/autopilots-flight-controller/quickstart/imu-triple-redundancy-feature.md).

# IMU triple redundancy feature

#### What to do when you reset the parameters to firmware defaults?

Agam Autopilot V6X-RT comes with 3 IMUs on board. One is on the Flight Controller board and rest two on the IMU sensor board with in the flight controller module, which gives our Autopilot that triple redundancy feature. IMU sensor board is dampened internally in the flight controller module and gives the accuracy to the sensor by dampening the flight vibrations.

We ship our units with the default stable PX4 firmware and let the customers do the modifications as per their needs, but few of our customers may be missing some of the important parameters below.

PX4 firmware which we shipped with our unit, has a parameter **SENS\_IMU\_MODE** which is set to default value "1" and the parameter E**KF2\_MULTI\_IMU** is set with value "1". This means that, EKF2 algorithm will only consider the IMU sensor data which is on the Flight Controller and not the other 2 sensors on the sensor board. This works in most conditions, but in different environmental conditions if that sensor is not providing data, The system completely fails and will not help with the stability of the flight. This is under utilizing the hardware which we have given in the Agam Autopilot V6X-RT.

To use the triple redundancy of IMU which is given on Autopilot, you need to update the parameter **SENS\_IMU\_MODE** set with value 0 then reboot. And then set **EKF2\_MULTI\_IMU** with value 3, as we have 3 IMUs available. With these settings, because we have 3 IMUs and 1 Magnetometer available in the hardware, it creates total 3 instances of EKF and gives more stability of the flight.

### Triple IMU Configuration <a href="#px4-configuration" id="px4-configuration"></a>

Set **SENS\_IMU\_MODE** = Disabled (0)

Reboot

Set **EKF2\_MULTI\_IMU** = 3

Reboot


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