From 527ee2e09cb446d414926562260de31403fb943e Mon Sep 17 00:00:00 2001
From: zhongchaoesp <zhongchao@espressif.com>
Date: Thu, 24 Jul 2025 21:59:16 +0800
Subject: [PATCH] Resolve the bug of mpu6050 initialization failure (#115)

* Resolve the bug of mpu6050 initialization failure

* Update components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
---
 .../crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c     | 7 +++++--
 components/drivers/i2c_devices/mpu6050/mpu6050.c           | 1 +
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c b/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
index ff9258b..f69caa7 100644
--- a/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
+++ b/components/core/crazyflie/hal/src/sensors_mpu6050_hm5883L_ms5611.c
@@ -415,8 +415,11 @@ static void sensorsDeviceInit(void)
         DEBUG_PRINTI("MPU6050 I2C connection [OK].\n");
     } else {
         DEBUG_PRINTE("MPU6050 I2C connection [FAIL].\n");
-        // Please check your hardware !
-        assert(0);
+        DEBUG_PRINTE("Please power off and power on the device.\n");
+        while (1) 
+        {
+            vTaskDelay(M2T(100));
+        }
     }
 
     mpu6050Reset();
diff --git a/components/drivers/i2c_devices/mpu6050/mpu6050.c b/components/drivers/i2c_devices/mpu6050/mpu6050.c
index 4eb7e68..f8e8c84 100644
--- a/components/drivers/i2c_devices/mpu6050/mpu6050.c
+++ b/components/drivers/i2c_devices/mpu6050/mpu6050.c
@@ -77,6 +77,7 @@ bool mpu6050Test(void)
  */
 bool mpu6050TestConnection()
 {
+    vTaskDelay(M2T(100));
     return mpu6050GetDeviceID() == 0b110100;
 }