* add new imu parameters

modules/drivers/gnss/parser/novatel_messages.h

@@ -555,6 +555,10 @@ inline ImuParameter GetImuParameter(ImuType type) {
     case ImuType::UM442:
       return {6.6581059144655048e-6, 2.99127170628e-5, 20.0};
 
+    case ImuType::IAM20680:
+      // (1.0/65.5)/125.0 deg/LSB (1.0/8192.0)*9.80665/125.0 m/s/LSB
+      return {0.0001221374045, 9.57680664e-06, 125};
+
     default:
       return {0.0, 0.0, 0.0};
   }

modules/drivers/gnss/proto/config.proto

@@ -74,6 +74,7 @@ enum ImuType {
   G320N = 40;          // EPSON G320N
   CPT_XW5651 = 41;     // IMU@SPAN-CPT, and XingWangYuda 5651
   UM442 = 42;          // UM442
+  IAM20680 = 57;       // InvenSense-IAM20680
 }
 
 message TF {