Add level calibration

flix/cli.ino

@@ -42,6 +42,7 @@ const char* motd =
 "log [dump] - print log header [and data]\n"
 "cr - calibrate RC\n"
 "ca - calibrate accel\n"
+"cl - calibrate level\n"
 "mfr, mfl, mrr, mrl - test motor (remove props)\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
@@ -148,6 +149,8 @@ void doCommand(String str, bool echo = false) {
 		calibrateRC();
 	} else if (command == "ca") {
 		calibrateAccel();
+	} else if (command == "cl") {
+		calibrateLevel();
 	} else if (command == "mfr") {
 		testMotor(MOTOR_FRONT_RIGHT);
 	} else if (command == "mfl") {

flix/imu.ino

@@ -44,7 +44,6 @@ void readIMU() {
 	gyro = Quaternion::rotateVector(gyro, rotation.inversed());
 }
 
-
 void calibrateGyroOnce() {
 	static Delay landedDelay(2);
 	if (!landedDelay.update(landed)) return; // calibrate only if definitely stationary
@@ -108,6 +107,14 @@ void calibrateAccelOnce() {
 	accBias = (accMax + accMin) / 2;
 }
 
+void calibrateLevel() {
+	print("Place perfectly level [1 sec]\n");
+	pause(1);
+	Quaternion correction = Quaternion::fromBetweenVectors(Quaternion::rotateVector(Vector(0, 0, 1), attitude), Vector(0, 0, 1));
+	imuRotation = Quaternion::rotate(correction, Quaternion::fromEuler(imuRotation)).toEuler();
+	print("✓ Done: %.3f %.3f %.3f\n", degrees(imuRotation.x), degrees(imuRotation.y), degrees(imuRotation.z));
+}
+
 void printIMUCalibration() {
 	print("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
 	print("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);

gazebo/flix.h

@@ -72,6 +72,7 @@ void resetParameters();
 void setLED(bool on) {};
 void calibrateGyro() { print("Skip gyro calibrating\n"); };
 void calibrateAccel() { print("Skip accel calibrating\n"); };
+void calibrateLevel() { print("Skip level calibrating\n"); };
 void printIMUCalibration() { print("cal: N/A\n"); };
 void printIMUInfo() {};
 void printWiFiInfo() {};