From 049b585bb4509665abb5011e9ba3209eee549587 Mon Sep 17 00:00:00 2001
From: Seth Foster <seth@opentrons.com>
Date: Mon, 4 Mar 2024 17:58:34 -0500
Subject: [PATCH] fix: disable subsystems before updating

---
 api/src/opentrons/hardware_control/ot3api.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 57f4e2d8efc..6a5597c9f9e 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -507,6 +507,10 @@ async def update_firmware(
     ) -> AsyncIterator[UpdateStatus]:
         """Start the firmware update for one or more subsystems and return update progress iterator."""
         subsystems = subsystems or set()
+        if SubSystem.head in subsystems:
+            await self.disengage_axes([Axis.Z_L, Axis.Z_R])
+        if SubSystem.gripper in subsystems:
+            await self.disengage_axes([Axis.Z_G])
         # start the updates and yield the progress
         async with self._motion_lock:
             try: