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Add cli commands for switching mode

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Make mode variable int instead of enum, which is more convinient.
This commit is contained in:
Oleg Kalachev
2025-08-26 21:55:27 +03:00
parent 8418723ccc
commit b21e81a68b
2 changed files with 9 additions and 2 deletions
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7
flix/cli.ino
View File

@@ -8,10 +8,12 @@
#include "util.h" #include "util.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT; 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 float loopRate, dt;
extern double t; extern double t;
extern uint16_t channels[16]; extern uint16_t channels[16];
extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode; extern float controlRoll, controlPitch, controlThrottle, controlYaw, controlArmed, controlMode;
extern int mode;
const char* motd = const char* motd =
"\nWelcome to\n" "\nWelcome to\n"
@@ -31,6 +33,7 @@ const char* motd =
"ps - show pitch/roll/yaw\n" "ps - show pitch/roll/yaw\n"
"psq - show attitude quaternion\n" "psq - show attitude quaternion\n"
"imu - show IMU data\n" "imu - show IMU data\n"
"stab / acro - set mode\n"
"rc - show RC data\n" "rc - show RC data\n"
"mot - show motor output\n" "mot - show motor output\n"
"log - dump in-RAM log\n" "log - dump in-RAM log\n"
@@ -106,6 +109,10 @@ void doCommand(String str, bool echo = false) {
printIMUInfo(); printIMUInfo();
printIMUCalibration(); printIMUCalibration();
print("landed: %d\n", landed); print("landed: %d\n", landed);
} else if (command == "stab") {
mode = STAB;
} else if (command == "acro") {
mode = ACRO;
} else if (command == "rc") { } else if (command == "rc") {
print("channels: "); print("channels: ");
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {

4
flix/control.ino
View File

@@ -34,8 +34,8 @@
#define TILT_MAX radians(30) #define TILT_MAX radians(30)
#define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz #define RATES_D_LPF_ALPHA 0.2 // cutoff frequency ~ 40 Hz
enum { MANUAL, ACRO, STAB } mode = STAB; const int MANUAL = 0, ACRO = 1, STAB = 2; // flight modes
enum { YAW, YAW_RATE } yawMode = YAW; int mode = STAB;
bool armed = false; bool armed = false;
PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA); PID rollRatePID(ROLLRATE_P, ROLLRATE_I, ROLLRATE_D, ROLLRATE_I_LIM, RATES_D_LPF_ALPHA);