pybricks.common.IMU: Fix failing to raise on bad axes.

pybricks · Oct 21, 2024 · 60273d6 · 60273d6
1 parent f00e345
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -17,6 +17,7 @@
 ### Fixed
 - Fixed `DriveBase.angle()` getting an incorrectly rounded gyro value, which
   could cause `turn(360)` to be off by a degree ([support#1844]).
+- Fixed `hub` silently ignoring non-orthogonal base axis when it should raise.
 
 [support#943]: https://github.com/pybricks/support/issues/943
 [support#1886]: https://github.com/pybricks/support/issues/1886

diff --git a/pybricks/common/pb_type_imu.c b/pybricks/common/pb_type_imu.c
@@ -331,7 +331,7 @@ mp_obj_t pb_type_IMU_obj_new(mp_obj_t hub_in, mp_obj_t top_side_axis_in, mp_obj_
     pbio_geometry_xyz_t top_side_axis;
     pb_type_imu_extract_axis(top_side_axis_in, &top_side_axis);
 
-    pbio_imu_set_base_orientation(&front_side_axis, &top_side_axis);
+    pb_assert(pbio_imu_set_base_orientation(&front_side_axis, &top_side_axis));
 
     // Return singleton instance.
     singleton_imu_obj.hub = hub_in;