AP_InertialSensor: configure bypass for 20789 like we do for AK8963

libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp

@@ -499,14 +499,6 @@ void AP_InertialSensor_Invensense::start()
     _register_write(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN);
     hal.scheduler->delay(1);
 
-    // clear interrupt on any read, and hold the data ready pin high
-    // until we clear the interrupt
-    uint8_t v = _register_read(MPUREG_INT_PIN_CFG) | BIT_INT_RD_CLEAR | BIT_LATCH_INT_EN;
-    if (_mpu_type == Invensense_ICM20789) {    
-        v &= BIT_BYPASS_EN;
-    }
-    _register_write(MPUREG_INT_PIN_CFG, v);
-
     // now that we have initialised, we set the bus speed to high
     _dev->set_speed(AP_HAL::Device::SPEED_HIGH);
 
@@ -962,11 +954,9 @@ bool AP_InertialSensor_Invensense::_hardware_init(void)
         }
 
         /* bus-dependent initialization */
-        if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250)) {
-            /* Enable I2C bypass to access internal AK8963 */
-            if (_mpu_type != Invensense_ICM20789) {
-                _register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
-            }
+        if ((_dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C) && (_mpu_type == Invensense_MPU9250 || _mpu_type == Invensense_ICM20789)) {
+            /* Enable I2C bypass to access internal device */
+            _register_write(MPUREG_INT_PIN_CFG, BIT_BYPASS_EN);
         }