code: def _init_imu(self):
          
  
          if not self._imu_init:
              self._imu_init = self._imu.IMUInit()
              if self._imu_init:
                  self._imu_poll_interval = self._imu.IMUGetPollInterval() * 0.001
                  # Enable everything on IMU
                  self.set_imu_config(True, True, True)
              else:
                  raise OSError('IMU Init Failed')
docs: Internal. Initialises the IMU sensor via RTIMU