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Show raw values in imu command

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This commit is contained in:
Oleg Kalachev
2025-08-22 17:20:33 +03:00
parent 80922dc68a
commit a1539157b8
2 changed files with 8 additions and 3 deletions
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3
flix/cli.ino
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@@ -104,10 +104,7 @@ void doCommand(String str, bool echo = false) {
print("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") {
printIMUInfo();
print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCalibration();
print("rate: %.0f\n", loopRate);
print("landed: %d\n", landed);
} else if (command == "rc") {
print("channels: ");

8
flix/imu.ino
View File

@@ -122,4 +122,12 @@ void printIMUInfo() {
IMU.status() ? print("status: ERROR %d\n", IMU.status()) : print("status: OK\n");
print("model: %s\n", IMU.getModel());
print("who am I: 0x%02X\n", IMU.whoAmI());
print("rate: %.0f\n", loopRate);
print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
Vector rawGyro, rawAcc;
IMU.getGyro(rawGyro.x, rawGyro.y, rawGyro.z);
IMU.getAccel(rawAcc.x, rawAcc.y, rawAcc.z);
print("raw gyro: %f %f %f\n", rawGyro.x, rawGyro.y, rawGyro.z);
print("raw acc: %f %f %f\n", rawAcc.x, rawAcc.y, rawAcc.z);
}