Accelerometer intermittent

I've got my 3D printed Marty up and walking using the python interface. The accelerometer works some of the time but several times it has frozen with incorrect values: x 1.047g, y 1.047g, z -0.505g. Rebooting Marty seems to fix the problem but I haven't worked out what's causing the failure. It may happen when a joint is commanded but doesn't move. Has anyone else experienced this or know how to fix it in a more satisfactory way?


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