EmuFlight Talon F7 Fusion Gyro Issue

Describe the bug Hi guys! I'm having an issue with Emuflight 0.3 where the gyro appears to cease functioning (no output on sensors page) and sometimes cause settings to get changed - Whilst trying to figure out how to reproduce this I've seen my motors get changed from DSHOT600 to brushed multiple times!

To Reproduce I've had it happen while changing various settings (PIDS, Rates, OSD, Configuration) but it seems to be very repeatable while loading PID Profiles / Presets & setting them back to default preset with a LIPO plugged in.

Flight controller configuration For my most recent attempt at triggering this bug I loaded CLI defaults then changed to the 6inch preset then back to the default preset which resulted in the frozen gyro and the following diff:

# diff

# version
# EmuFlight / TALONF7FUSION (TALN) 0.3.0 May 18 2020 / 19:04:33 (001a051) MSP API: 1.47

board_name 
manufacturer_id 

# name

# resources

# mixer

# servo

# servo mix

# feature

# beeper

# beacon

# map

# serial

# led

# color

# mode_color

# aux

# adjrange

# rxrange

# vtx

# rxfail

# master
set imuf_roll_q = 8500
set imuf_pitch_q = 8500
set imuf_yaw_q = 8500
set imuf_w = 48
set imuf_sharpness = 2000
set dynamic_gyro_notch_q = 0
set dynamic_gyro_notch_min_hz = 0
set min_throttle = 1000
set use_unsynced_pwm = ON
set motor_pwm_protocol = BRUSHED
set motor_pwm_rate = 16000

# profile
profile 0

set smart_dterm_smoothing_roll = 75
set smart_dterm_smoothing_pitch = 75
set smart_dterm_smoothing_yaw = 75
set witchcraft_roll = 6
set witchcraft_pitch = 6
set witchcraft_yaw = 6
set spa_yaw_i = 75
set i_decay = 8
set emu_boost = 0
set emu_boost_yaw = 0
set emu_boost_limit = 0
set emu_boost_limit_yaw = 0
set p_pitch = 60
set i_pitch = 62
set d_pitch = 35
set p_roll = 52
set i_roll = 62
set d_roll = 35
set p_yaw = 65
set i_yaw = 60
set d_yaw = 15

# rateprofile
rateprofile 0

set tpa_rate_p = 100
set tpa_rate_i = 175
set tpa_rate_d = 85
set tpa_breakpoint = 1400

Setup / Versions 6 inch Apex Talon F7 Fusion Fettec 35A ESC DJI FPV System

This quad was flying perfectly with Betaflight on Saturday & the only change since then is EmuFlight.

emuflight / EmuFlight

EmuFlight Talon F7 Fusion Gyro Issue #234