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Show imu data in cli

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This commit is contained in:
Oleg Kalachev
2023-05-24 11:05:11 +03:00
parent 34fd303027
commit 17edd0ee00
2 changed files with 3 additions and 1 deletions
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2
flix/cli.ino
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@@ -66,6 +66,8 @@ static void doCommand()
} else if (command == "psq") { } else if (command == "psq") {
Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w); Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") { } else if (command == "imu") {
Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCal(); printIMUCal();
} else if (command == "rc") { } else if (command == "rc") {
Serial.printf("RAW throttle %d yaw %d pitch %d roll %d aux %d mode %d\n", Serial.printf("RAW throttle %d yaw %d pitch %d roll %d aux %d mode %d\n",

2
gazebo/flix.h
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@@ -45,4 +45,4 @@ void setLED(bool on) {};
void calibrateGyro() {}; void calibrateGyro() {};
void fullMotorTest(int n) {}; void fullMotorTest(int n) {};
void sendMotors() {}; void sendMotors() {};
void printIMUCal() { Serial.print("N/A"); }; void printIMUCal() { Serial.print("cal: N/A\n"); };