From 1ae85ff11810928a1ab0367e51ceafe60ec2a751 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Thu, 2 Jul 2026 22:22:33 +0300
Subject: [PATCH] Add argument to motor testing commands for specifying thrust

---
 flix/cli.ino    | 10 +++++-----
 flix/motors.ino |  4 ++--
 gazebo/flix.h   |  2 +-
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 9eaa12c..4926243 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -51,7 +51,7 @@ const char* motd =
 "espnow <mac> [<key>] - configure ESP-NOW peer\n"
 "mot - show motor output\n"
 "log [dump] - print log header [and data]\n"
-"mfr, mfl, mrr, mrl - test motor (remove props)\n"
+"mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
 "sys - show system info\n"
 "reset - reset drone's state\n"
 "reboot - reboot the drone\n";
@@ -161,13 +161,13 @@ void doCommand(String str, bool echo = false) {
 	} else if (command == "ca") {
 		calibrateAccel();
 	} else if (command == "mfr") {
-		testMotor(MOTOR_FRONT_RIGHT);
+		testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mfl") {
-		testMotor(MOTOR_FRONT_LEFT);
+		testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrr") {
-		testMotor(MOTOR_REAR_RIGHT);
+		testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "mrl") {
-		testMotor(MOTOR_REAR_LEFT);
+		testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
 	} else if (command == "sys") {
 #ifdef ESP32
 		print("Chip: %s\n", ESP.getChipModel());
diff --git a/flix/motors.ino b/flix/motors.ino
index 9654eec..6b808b1 100644
--- a/flix/motors.ino
+++ b/flix/motors.ino
@@ -51,9 +51,9 @@ bool motorsActive() {
 	return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
 }
 
-void testMotor(int n) {
+void testMotor(int n, float thrust) {
 	print("Testing motor %d\n", n);
-	motors[n] = 0.2;
+	motors[n] = thrust;
 	delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
 	sendMotors();
 	pause(3);
diff --git a/gazebo/flix.h b/gazebo/flix.h
index e0ba9ab..a6f36fb 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -38,7 +38,7 @@ const char* getModeName();
 void sendMotors();
 int getDutyCycle(float value);
 bool motorsActive();
-void testMotor(int n);
+void testMotor(int, float);
 void print(const char* format, ...);
 void pause(float duration);
 void doCommand(String str, bool echo);