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Print low pass filters parameters and current mode in cli

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This commit is contained in:
Oleg Kalachev 2023-11-11 06:21:06 +03:00
parent 6d2518e635
commit 6dae4abaa2
2 changed files with 21 additions and 2 deletions
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13
flix/cli.ino
View File

@ -4,8 +4,10 @@
// Implementation of command line interface
#include "pid.h"
#include "vector.h"
extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
extern LowPassFilter<Vector> ratesFilter;
const char* motd =
"\nWelcome to\n"
@ -47,7 +49,13 @@ const struct Param {
{"yi", &yawRatePID.i, nullptr},
{"yd", &yawRatePID.d, nullptr},
{"lpr", &ratesFilter.alpha, nullptr},
{"lpd", &rollRatePID.lpf.alpha, &pitchRatePID.lpf.alpha},
{"ss", &loopFreq, nullptr},
{"dt", &dt, nullptr},
{"t", &t, nullptr},
// {"m", &mode, nullptr},
};
@ -67,12 +75,13 @@ void doCommand(String& command, String& value)
Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCal();
} 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",
channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_AUX], channels[RC_CHANNEL_MODE]);
Serial.printf("CONTROL throttle %f yaw %f pitch %f roll %f aux %f mode %f\n",
Serial.printf("Control: throttle %f yaw %f pitch %f roll %f aux %f mode %f\n",
controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_AUX], controls[RC_CHANNEL_MODE]);
Serial.printf("Mode: %s\n", getModeName());
} else if (command == "mot") {
Serial.printf("MOTOR front-right %f front-left %f rear-right %f rear-left %f\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);

10
flix/control.ino
View File

@ -267,3 +267,13 @@ inline void indicateSaturation() {
setLED(motorsSaturation);
}
}
const char* getModeName()
{
switch (mode) {
case MANUAL: return "MANUAL";
case ACRO: return "ACRO";
case STAB: return "STAB";
default: return "UNKNOWN";
}
}