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Fix mavlink disconnection in pauses in cli commands

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Implement pause function that proceeds processing mavlink.
Use temporal workaround for simulation, as micros function gives the same result on the same simulation step.
This commit is contained in:
Oleg Kalachev 2025-02-28 19:25:41 +03:00
parent 5bf2e06c5a
commit 3fdebf39d8
5 changed files with 34 additions and 12 deletions
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16
flix/cli.ino
View File

@ -52,6 +52,22 @@ void print(const char* format, ...) {
#endif
}
void pause(float duration) {
#if ARDUINO
double start = t;
while (t - start < duration) {
step();
handleInput();
#if WIFI_ENABLED
processMavlink();
#endif
}
#else
// Code above won't work in the simulation
delay(duration * 1000);
#endif
}
void doCommand(String str, bool echo = false) {
// parse command
String command, arg0, arg1;

19
flix/imu.ino
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@ -68,18 +68,23 @@ void calibrateAccel() {
print("Calibrating accelerometer\n");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
Serial.setTimeout(5000);
print("Place level [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place level [8 sec]\n");
pause(8);
calibrateAccelOnce();
print("Place nose up [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place nose up [8 sec]\n");
pause(8);
calibrateAccelOnce();
print("Place nose down [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place nose down [8 sec]\n");
pause(8);
calibrateAccelOnce();
print("Place on right side [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place on right side [8 sec]\n");
pause(8);
calibrateAccelOnce();
print("Place on left side [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place on left side [8 sec]\n");
pause(8);
calibrateAccelOnce();
print("Place upside down [enter | 5 sec] \n"); Serial.readStringUntil('\n');
print("Place upside down [8 sec]\n");
pause(8);
calibrateAccelOnce();
printIMUCal();

2
flix/motors.ino
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@ -60,7 +60,7 @@ void testMotor(uint8_t n) {
motors[n] = 1;
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();
delay(3000);
pause(3);
motors[n] = 0;
sendMotors();
print("Done\n");

8
flix/rc.ino
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@ -44,16 +44,16 @@ void normalizeRC() {
}
void calibrateRC() {
print("Calibrate RC: move all sticks to maximum positions in 4 seconds\n");
print("Calibrate RC: move all sticks to maximum positions [4 sec]\n");
print("··o ··o\n··· ···\n··· ···\n");
delay(4000);
pause(4);
while (!readRC());
for (int i = 0; i < 16; i++) {
channelMax[i] = channels[i];
}
print("Calibrate RC: move all sticks to neutral positions in 4 seconds\n");
print("Calibrate RC: move all sticks to neutral positions [4 sec]\n");
print("··· ···\n··· ·o·\n·o· ···\n");
delay(4000);
pause(4);
while (!readRC());
for (int i = 0; i < 16; i++) {
channelNeutral[i] = channels[i];

1
gazebo/flix.h
View File

@ -37,6 +37,7 @@ void sendMotors();
bool motorsActive();
void testMotor(uint8_t n);
void print(const char* format, ...);
void pause(float duration);
void doCommand(String str, bool echo);
void handleInput();
void calibrateRC();