diff --git a/CHANGELOG.md b/CHANGELOG.md
index d52a4d149..4b4cd9434 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,16 @@
 
 ## [Unreleased]
 
+## [2.1.0-beta.2] - 2022-12-26
+
+### Changed
+- Updated firmware to v3.2.1:
+
+  #### Fixed
+  - Fixed `imu.angular_velocity` returning the values of `imu.acceleration`.
+
+  [support#885]: https://github.com/pybricks/support/issues/885
+
 ## [2.1.0-beta.1] - 2022-12-23
 
 ### Added
@@ -643,7 +653,8 @@ Prerelease changes are documented at [support#48].
 
 <!-- links for version headings -->
 
-[Unreleased]: https://github.com/pybricks/pybricks-code/compare/v2.1.0-beta.1...HEAD
+[Unreleased]: https://github.com/pybricks/pybricks-code/compare/v2.1.0-beta.2...HEAD
+[2.1.0-beta.2]: https://github.com/pybricks/pybricks-code/compare/v2.1.0-beta.1...v2.1.0-beta.2
 [2.1.0-beta.1]: https://github.com/pybricks/pybricks-code/compare/v2.0.1...v2.1.0-beta.1
 [2.0.1]: https://github.com/pybricks/pybricks-code/compare/v2.0.0...v2.0.1
 [2.0.0]: https://github.com/pybricks/pybricks-code/compare/v2.0.0-rc.1...v2.0.0
diff --git a/package.json b/package.json
index 1dc38c42a..22caf35ec 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name": "@pybricks/pybricks-code",
-    "version": "2.1.0-beta.1",
+    "version": "2.1.0-beta.2",
     "license": "MIT",
     "author": "The Pybricks Authors",
     "repository": {
@@ -13,7 +13,7 @@
         "@blueprintjs/popover2": "^1.10.2",
         "@blueprintjs/select": "^4.8.12",
         "@pmmmwh/react-refresh-webpack-plugin": "^0.5.10",
-        "@pybricks/firmware": "6.5.0",
+        "@pybricks/firmware": "6.6.0",
         "@pybricks/ide-docs": "2.7.0",
         "@pybricks/images": "^1.3.0",
         "@pybricks/jedi": "1.6.0",
diff --git a/yarn.lock b/yarn.lock
index 54905f571..3d53693ad 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -2360,12 +2360,12 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@pybricks/firmware@npm:6.5.0":
-  version: 6.5.0
-  resolution: "@pybricks/firmware@npm:6.5.0"
+"@pybricks/firmware@npm:6.6.0":
+  version: 6.6.0
+  resolution: "@pybricks/firmware@npm:6.6.0"
   dependencies:
     jszip: ^3.7.1
-  checksum: 1c2518d4e9f8ef2a76be60a30af734b441dbb336b398d7759481f20392e3378e0dbd5927b0f6754f7c29b26e03d3adf78ff2fbb687779fad2f492a3117ce3efa
+  checksum: 9f57db8bc558994ddf8ca0e2ceeb9cb9ca01d829b2e9ad3981a6d70e1cce2cb5065313e13654d4069ce6423e4b0c8a7d2a24bc50d91e68457b335e9dc6fbb8a7
   languageName: node
   linkType: hard
 
@@ -2413,7 +2413,7 @@ __metadata:
     "@blueprintjs/popover2": ^1.10.2
     "@blueprintjs/select": ^4.8.12
     "@pmmmwh/react-refresh-webpack-plugin": ^0.5.10
-    "@pybricks/firmware": 6.5.0
+    "@pybricks/firmware": 6.6.0
     "@pybricks/ide-docs": 2.7.0
     "@pybricks/images": ^1.3.0
     "@pybricks/jedi": 1.6.0