AP_InertialSensor: disable register checking in invensensev2 driver

register checking doesn't work for the banked registers used in the
invensensev2 register layout. It ends up setting the wrong register
value in some cases, which can either cause the sensor to stop working
or in the worst case give bad data

libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp

@@ -546,8 +546,9 @@ uint8_t AP_InertialSensor_Invensensev2::_register_read(uint16_t reg)
 
 void AP_InertialSensor_Invensensev2::_register_write(uint16_t reg, uint8_t val, bool checked)
 {
+    (void)checked;
     _select_bank(GET_BANK(reg));
-    _dev->write_register(GET_REG(reg), val, checked);
+    _dev->write_register(GET_REG(reg), val, false);
 }
 
 void AP_InertialSensor_Invensensev2::_select_bank(uint8_t bank)
@@ -639,9 +640,8 @@ bool AP_InertialSensor_Invensensev2::_hardware_init(void)
         return false;
     }
 
-    // setup for register checking. We check much less often on I2C
-    // where the cost of the checks is higher
-    _dev->setup_checked_registers(7, _dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C?200:20);
+    // disabled setup of checked registers as it can't cope with bank switching
+    // _dev->setup_checked_registers(7, _dev->bus_type() == AP_HAL::Device::BUS_TYPE_I2C?200:20);
     
     // initially run the bus at low speed
     _dev->set_speed(AP_HAL::Device::SPEED_LOW);