So, I am not sure I saw any way to debug this problem. We also have a 2.8 OpenROV running 30.0.3. We have triple checked the solder joints and continuity. Our log shows the same data as reported above:
mpu_init failed with code -1
The suggestion is to fix the component model in the Arduino library. How do we do this? Is there a procedure somewhere (and, if so, shouldn't it be referenced by the IMU module install instructions??)
I look forward to your reply.