From 9fb0ff0e80c9bf3791ab4378c567d261acb892a1 Mon Sep 17 00:00:00 2001
From: Eric Katzfey <eric.katzfey@modalai.com>
Date: Fri, 20 Feb 2026 11:30:15 -0700
Subject: [PATCH] voxl2: added 32768 Hz external clock option for icm42688p
 driver start

---
 boards/modalai/voxl2/target/voxl-px4-start | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/boards/modalai/voxl2/target/voxl-px4-start b/boards/modalai/voxl2/target/voxl-px4-start
index d3cb5ce4e3..aadb8ae1cc 100755
--- a/boards/modalai/voxl2/target/voxl-px4-start
+++ b/boards/modalai/voxl2/target/voxl-px4-start
@@ -76,10 +76,10 @@ param load
 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
     /bin/echo "Starting IMU driver with rotation 12"
-    qshell icm42688p start -s -R 12
+    qshell icm42688p start -s -R 12 -C 32768
 else
     /bin/echo "Starting IMU driver with no rotation"
-    qshell icm42688p start -s
+    qshell icm42688p start -s -C 32768
 fi
 
 # Start Invensense ICP 101xx barometer built on to VOXL 2