Merge master into develop

Author: kilograham

i2c/mpu6050_i2c/mpu6050_i2c.c

@@ -39,6 +39,12 @@ static void mpu6050_reset() {
     // There are a load more options to set up the device in different ways that could be added here
     uint8_t buf[] = {0x6B, 0x80};
     i2c_write_blocking(i2c_default, addr, buf, 2, false);
+    sleep_ms(100); // Allow device to reset and stabilize
+
+    // Clear sleep mode (0x6B register, 0x00 value)
+    buf[1] = 0x00;  // Clear sleep mode by writing 0x00 to the 0x6B register
+    i2c_write_blocking(i2c_default, addr, buf, 2, false); 
+    sleep_ms(10); // Allow stabilization after waking up
 }
 
 static void mpu6050_read_raw(int16_t accel[3], int16_t gyro[3], int16_t *temp) {