I did not have this issue with imu not connecting. Have you tried your setup with a panda firmware? Is the reverse detection activated?
I tried to implement an prevention to that um982 sometimes flip heading. Could be the problem if imu is not connecting.
i will check imu on serial than will post here again
I did some test while spraying. I think it steers better with more imu. I contacted Unicorcomm and got some alternative settings for um982 to improve DUAL.
I will test them when I get the time.
rotation issue resolved by changing the IMU clock speed from 400,000 to 100,000 in the firmware.
IMU is now detected properly and the continuous rotation has stopped. I tested this while parked, and will field-test it soon. I will update the thread here after field test