mpu6000 driver: set icm registers only on icm devices

src/drivers/mpu6000/mpu6000.cpp

@@ -744,7 +744,11 @@ int MPU6000::reset()
 	// was 90 Hz, but this ruins quality and does not improve the
 	// system response
 	_set_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
+
+	if (is_icm_device()) {
 		_set_icm_acc_dlpf_filter(MPU6000_DEFAULT_ONCHIP_FILTER_FREQ);
+	}
+
 	usleep(1000);
 	// Gyro scale 2000 deg/s ()
 	write_checked_reg(MPUREG_GYRO_CONFIG, BITS_FS_2000DPS);
@@ -1329,7 +1333,11 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 					float cutoff_freq_hz = _accel_filter_x.get_cutoff_freq();
 					float sample_rate = 1.0e6f / ticks;
 					_set_dlpf_filter(cutoff_freq_hz);
+
+					if (is_icm_device()) {
 						_set_icm_acc_dlpf_filter(cutoff_freq_hz);
+					}
+
 					_accel_filter_x.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
 					_accel_filter_y.set_cutoff_frequency(sample_rate, cutoff_freq_hz);
 					_accel_filter_z.set_cutoff_frequency(sample_rate, cutoff_freq_hz);