From a1539157b83550c29d7c47df2459afbdc08dc84b Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 22 Aug 2025 17:20:33 +0300
Subject: [PATCH] Show raw values in imu command

---
 flix/cli.ino | 3 ---
 flix/imu.ino | 8 ++++++++
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index f9dbc7f..92942e1 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -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: ");
diff --git a/flix/imu.ino b/flix/imu.ino
index 248bd9e..3022bd1 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -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);
 }