Inconsistent Behavior When Starting via Bluetooth Upload vs Post-Hub Startup (SPIKE)

[juurisss]

I've been using Pybricks for a few weeks now, and I just realized starting the program after starting the hub makes it inconsistent compared to when I just upload the program via Bluetooth. Running the program by uploading the program first makes it very consistent; however, when we start up the hub and then start the program, it doesn't have the same results as when I just uploaded. Is this normal?

I've tried to do the following:

• Letting the hub settle down before starting it
• Waiting a few seconds before starting the program
• Making it reset heading to 0 before doing anything
• Tried on 3 different hubs

I believe this issue is related to the gyro sesnors since I'm utilizing a PD controller for moving anything and when making it go straight it drifts (only with hub startups, starting via bluetooth is fine) however I'm unable to view logs to actually help learn more about the issue since it goes back to being consistent when i connect it to bluetooth

[laurensvalk]

When you've just turned on your robot, it needs a few seconds to calibrate the gyro. If you're spending a few seconds to connect and download a program, that is usually enough.

You can also wait for it explicitly in your program, by waiting for hub.imu.ready() to become True.

[juurisss]

Just tested, didnt work. It still drifts