From 752ef8696af9687b7ea3d0309ab8f73990d6b61d Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 15 Dec 2025 19:04:11 -0800
Subject: [PATCH] sensord: remove last of dual IMU support (#36881)

---
 cereal/log.capnp                     | 6 +++---
 cereal/services.py                   | 3 ---
 system/sensord/tests/test_sensord.py | 3 +--
 3 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 686771e28..3a6432c84 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2524,13 +2524,10 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2693,5 +2690,8 @@ struct Event {
     liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
+    gyroscope2DEPRECATED @100 :SensorEventData;
+    accelerometer2DEPRECATED @101 :SensorEventData;
+    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }
diff --git a/cereal/services.py b/cereal/services.py
index edeca412c..f7269b79c 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -13,13 +13,10 @@ _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 1dab65238..5e98e1224 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -56,8 +56,7 @@ def get_irq_count(irq: int):
     return sum(per_cpu)
 
 def read_sensor_events(duration_sec):
-  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
-                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
+  sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'temperatureSensor',]
   socks = {}
   poller = messaging.Poller()
   events = defaultdict(list)