From 55865c7962590fdead6796b8d256cac69bc4ac75 Mon Sep 17 00:00:00 2001
From: Luis Venancio <venancio@lsts.pt>
Date: Fri, 27 Sep 2024 17:46:57 +0100
Subject: [PATCH] Sensors/Microstrain3DMGX3: Fix for writing calibration
 parameters to device.

---
 src/Sensors/Microstrain3DMGX3/Task.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/Sensors/Microstrain3DMGX3/Task.cpp b/src/Sensors/Microstrain3DMGX3/Task.cpp
index bad885abe1..25027f0670 100644
--- a/src/Sensors/Microstrain3DMGX3/Task.cpp
+++ b/src/Sensors/Microstrain3DMGX3/Task.cpp
@@ -308,6 +308,13 @@ namespace Sensors
         m_uart->setMinimumRead(max_data);
       }
 
+      bool
+      resetUart()
+      {
+        delete(m_uart);
+        return onConnect();
+      }
+
       void
       consume(const IMC::MagneticField* msg)
       {
@@ -484,6 +491,7 @@ namespace Sensors
             setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_CALIBRATING);
             inf(DTR("resetting device"));
             poll(CMD_DEVICE_RESET, CMD_DEVICE_RESET_SIZE, 0, 0);
+            resetUart();
           }
         }
       }