pybricks/pybricks-micropython v3.3.0b4 on GitHub

Fixed gyro on Technic Hub occasionally giving a bad value, which made it
not calibrate properly (support#1026).
Fixed discrepancy in heading value across hubs by accounting for sampling
time (support#1022).
Fixed iterator for Matrix objects giving bad values.
Fixed Bluetooth sometimes locking up on Technic/City hubs (support#567).
Fixed GyroDriveBase being slow to respond to heading perturbations when
driving at high speed (support#1032).

Added pybricks.tools.cross(a, b) to get a vector cross product.
Added experimental implementation of hub.imu.heading() ([support#912]).
Added support for reading single-axis rotation, which is useful in
applications like balancing robots, where full 3D orientation is not
required, or even undesired.
Added hub.imu.ready() to check that the IMU has been calibrated and is
ready for use.
Added GyroDriveBase class to control drivebase steering with the gyro.
Added optional window parameter to Motor.speed to specify the
differentiation window size that determines the average speed. This lets the
user choose smaller values to get a more responsive (but noisier) or higher
values to get a smoother (but more delayed) speed signal.

Removed positive_direction from DriveBase initializer. This was
temporarily added in the previous beta release to facilitate gyro support,
but made it more complicated than needed (support#992).
Removed pybricks.geometry in an effort to reduce the number of modules with
just a few elements. Matrix and vector have moved to tools. The Axis
enum was moved to parameters. Each item can still be imported from its
original location for backwards compatibility.

pybricks/pybricks-micropython v3.3.0b4 Release v3.3.0b4 on GitHub