Feature Request: Add support for LSM6DSK320X IMU (DAKEFPV H743)

[Franfoxy]

Is your feature request related to a problem? Please describe.
The new revision of the DAKEFPV H743 flight controller uses the LSM6DSK320X gyro/accel sensor.
On INAV 9.1, the IMU is not detected (Gyroscope: NONE), and the 3D model remains frozen.

Describe the solution you'd like
Add the LSM6DSK320X driver support to INAV (similar to Betaflight implementation) so this board revision can be fully functional.

Additional context

• Board: DAKEFPV H743
• Firmware tested: INAV 9.1
• Working firmware: Betaflight 2026/6

[MrScothh]

Support for this chip is already in INAV, it just hasn't reached a build you can flash yet.

• The driver (LSM6DSV16X / LSM6DSK320X, WHO_AM_I 0x75) was added in Add LSM6DSV16X/LSM6DSK320X support to LSM6DXX accgyro driver #11694 and is included in 9.1.0.
• The DAKEFPVH743 targets were wired to it by DAKEFPV in Dakefpvh743xx add lsm6 dxx #11747, but that PR was merged into maintenance-10.x only. It is not in 9.1.0 and not in release/9.1, which is where the nightlies are built from, so they don't have it either.

On 9.1.0 none of the three DAKEFPVH743 targets registers an LSM6DXX on its IMU slots, which is why you get Gyroscope: NONE. #11747 adds it on both slots for DAKEFPVH743, DAKEFPVH743PRO and DAKEFPVH743_SLIM. On the base DAKEFPVH743 it also closes a second gap: that target only registers the ICM42605, so boards fitted with an MPU6000, MPU6500 or BMI270 aren't detected either.

@sensei-hacker would you like this brought across to release/9.1, so it reaches the nightlies and the next 9.1.x? The commit (cfeb519) applies cleanly to the current release/9.1, so I'm happy to open a PR for it, keeping DAKEFPV as the author. If keeping it on maintenance-10.x only was intentional, just let me know.

[Franfoxy]

Thank you for your reply. I've been using iNav on my drones for years, and I just can't get used to Betaflight. I'll wait, with high hopes.

[oldmanbluntz]

Well, this answers my issue as well. I also have one of the newer revisions of this FC, and is also shows no gyro. I guess we will wait for 10.0RC1, when it arrives, or if DAKEFPV decide it's okay to add to the nightlies for 9.1.

[b14ckyy]

#11747