ADIS16470 default port says MXP it should say SPI #2425
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The documentation says that the ADIS16470 is plugged into the MXP by default which is not true. It should say SPI Port
Reference: https://first.wpi.edu/wpilib/allwpilib/docs/release/java/src-html/edu/wpi/first/wpilibj/ADIS16470_IMU.html#line.281