Give the pi3hat more time to update IMU config

Sometimes it needs more than 100us before it is able to coherently respond to SPI. We'll give it 1ms for now.
mjbots · Jun 9, 2021 · d1e8aa5 · d1e8aa5
1 parent ffe7db9
commit d1e8aa5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/lib/cpp/mjbots/pi3hat/pi3hat.cc b/lib/cpp/mjbots/pi3hat/pi3hat.cc
@@ -933,7 +933,7 @@ class Pi3Hat::Impl {
           sizeof(desired_imu));
 
       // Give it some time to work.
-      ::usleep(100);
+      ::usleep(1000);
       DeviceImuConfiguration config_verify;
       primary_spi_.Read(
           0, 35,