From 81df897d886f2cc4636d7fc1ec81788e8a33b65d Mon Sep 17 00:00:00 2001
From: David Buzz <davidbuzz@gmail.com>
Date: Tue, 2 May 2023 09:29:17 +1000
Subject: [PATCH] AP_InternalError: imu resets aren't fatal on esp32

---
 libraries/AP_InternalError/AP_InternalError.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_InternalError/AP_InternalError.cpp b/libraries/AP_InternalError/AP_InternalError.cpp
index cc498150bd..2bb3b3170e 100644
--- a/libraries/AP_InternalError/AP_InternalError.cpp
+++ b/libraries/AP_InternalError/AP_InternalError.cpp
@@ -21,6 +21,9 @@ void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
         AP::internalerror().error_to_string(buffer, ARRAY_SIZE(buffer), e);
         AP_HAL::panic("AP_InternalError::error_t::%s", buffer);
     }
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_ESP32
+if (e == AP_InternalError::error_t::imu_reset) return;// don't worry about this for esp32
 #endif
     internal_errors |= uint32_t(e);
     total_error_count++;