[Bug] Unable to select Accel2/Gyro2 as primary IMU

[clay350]

Describe the bug

Im not sure if this is a bug or feature request. We are limited to running firmware 1.12.3 on the cube orange and having issues using setting accel2/gyro2 as the primary flight IMU while keeping the other two IMU's active as backups. For us the undampened IMU gives us a much better output.

The only way we can utilize IMU2 as the primary flight IMU us to disable IMU0/IMU1. We would like to keep IMU0/IMU1 as an active backup.

If I set accel2/gyro2 to maximum priority and the others to "minimum" priority (accel0/gyro0,accel1/gyro1) the machine still defaults to accel0/gyro0 for its primary flight IMU.

Any help would be appreciated.

To Reproduce

No response

Expected behavior

No response

Screenshot / Media

No response

Flight Log

No response

Software Version

No response

Flight controller

No response

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

[bresch]

Might be a bug on 1.12. One trick would be to change the startup order: https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/init/rc.board_sensors and start the IMU you want to use first.

We are limited to running firmware 1.12.3 on the cube orange

Why exactly? Vibration issues on newer versions or something else?