From bc8145aca93164473dfb87912732b3f918c19a0c Mon Sep 17 00:00:00 2001
From: Niklas Jensen <niklaspj2004@gmail.com>
Date: Fri, 26 Dec 2025 23:33:10 +0100
Subject: [PATCH] Initialize default DMP for ICM20948

---
 esp32/include/peripherals/imu.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/esp32/include/peripherals/imu.h b/esp32/include/peripherals/imu.h
index 6b095ff..3b4e1a2 100644
--- a/esp32/include/peripherals/imu.h
+++ b/esp32/include/peripherals/imu.h
@@ -42,11 +42,13 @@ class IMU : public SensorBase<IMUAnglesMsg> {
 #endif
 #if FT_ENABLED(USE_ICM20948)
     #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
+        #define ICM_20948_USE_DMP // TODO: Move to features.ini
         SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
         _imu = (ICM_20948_SPI*)_arg;
         #ifndef ICM20948_ALIVE
         #define ICM20948_ALIVE
         _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
+        _imu->initializeDMP();
         #endif
     #else
         _imu = (ICM_20948_I2C*)_arg;