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Print the IMU information in imu command

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This commit is contained in:
Oleg Kalachev 2024-10-31 10:24:00 +03:00
parent 39d4f39932
commit ad2c64625c
2 changed files with 6 additions and 0 deletions
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1
flix/cli.ino
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@ -70,6 +70,7 @@ void doCommand(String& command, String& value) {
} else if (command == "psq") { } else if (command == "psq") {
Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w); Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") { } else if (command == "imu") {
printIMUInfo();
Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z); Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z); Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCal(); printIMUCal();

5
flix/imu.ino
View File

@ -122,3 +122,8 @@ void printIMUCal() {
Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z); Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z); Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
} }
void printIMUInfo() {
Serial.printf("type: %s\n", IMU.getType());
Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
}