pbio/drv/imu_lsm6ds3tr_c_stm32: Revert dropping block update.

This occasionally leads to bad values on the Technic Hub. This reverts commit 121c4db. Fixes pybricks/support#1026
pybricks · Apr 4, 2023 · 0080c97 · 0080c97
1 parent 69bcafe
commit 0080c97
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,12 @@
 
 ## [Unreleased]
 
+### Fixed
+- Fixed gyro on Technic Hub occasionally giving a bad value, which made it
+  not calibrate properly ([support#1026]).
+
+[support#1026]: https://github.com/pybricks/support/issues/1026
+
 ### Added
 - Added `pybricks.geometry.cross(a, b)` to get a vector cross product.
 - Added experimental implementation of `hub.imu.heading()` ([support#912]).

diff --git a/lib/pbio/drv/imu/imu_lsm6ds3tr_c_stm32.c b/lib/pbio/drv/imu/imu_lsm6ds3tr_c_stm32.c
@@ -198,6 +198,11 @@ static PT_THREAD(pbdrv_imu_lsm6ds3tr_c_stm32_init(struct pt *pt)) {
         PT_SPAWN(pt, &child, lsm6ds3tr_c_reset_get(&child, ctx, &rst));
     } while (rst);
 
+    /*
+     *  Enable Block Data Update
+     */
+    PT_SPAWN(pt, &child, lsm6ds3tr_c_block_data_update_set(&child, ctx, PROPERTY_ENABLE));
+
     /*
      * Set Output Data Rate
      */