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Cleanups

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This commit is contained in:
Oleg Kalachev
2023-05-24 10:56:59 +03:00
parent 87c75842f9
commit 82276ddb92
6 changed files with 11 additions and 42 deletions
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4
flix/cli.ino
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@@ -1,7 +1,6 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix
#include <MPU9250.h>
#include "pid.h"
static String command;
@@ -9,7 +8,6 @@ static String value;
static bool parsingCommand = true;
extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
extern MPU9250 IMU;
const char* motd =
"\nWelcome to\n"
@@ -68,7 +66,7 @@ static void doCommand()
} else if (command == "psq") {
Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") {
Serial.printf("gyro bias %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
printIMUCal();
} else if (command == "rc") {
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],