From b21e81a68b5e853e7ccf6b36e5d598f44e2a1ad6 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 26 Aug 2025 21:55:27 +0300
Subject: [PATCH] Add cli commands for switching mode Make mode variable int
 instead of enum, which is more convinient.

---
 flix/cli.ino     | 7 +++++++
 flix/control.ino | 4 ++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 92942e1..c022ceb 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -8,10 +8,12 @@
 #include "util.h"
 
 extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+extern const int ACRO, STAB;
 extern float loopRate, dt;
 extern double t;
 extern uint16_t channels[16];
 extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
+extern int mode;
 
 const char* motd =
 "\nWelcome to\n"
@@ -31,6 +33,7 @@ const char* motd =
 "ps - show pitch/roll/yaw\n"
 "psq - show attitude quaternion\n"
 "imu - show IMU data\n"
+"stab / acro - set mode\n"
 "rc - show RC data\n"
 "mot - show motor output\n"
 "log - dump in-RAM log\n"
@@ -106,6 +109,10 @@ void doCommand(String str, bool echo = false) {
 		printIMUInfo();
 		printIMUCalibration();
 		print("landed: %d\n", landed);
+	} else if (command == "stab") {
+		mode = STAB;
+	} else if (command == "acro") {
+		mode = ACRO;
 	} else if (command == "rc") {
 		print("channels: ");
 		for (int i = 0; i < 16; i++) {
diff --git a/flix/control.ino b/flix/control.ino
index 2d5db74..5bd7756 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -34,8 +34,8 @@
 #define TILT_MAX radians(30)
 #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
 
-enum { MANUAL, ACRO, STAB } mode = STAB;
-enum { YAW, YAW_RATE } yawMode = YAW;
+const int MANUAL = 0, ACRO = 1, STAB = 2; // flight modes
+int mode = STAB;
 bool armed = false;
 
 PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);