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Add accel calibration command

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This commit is contained in:
Oleg Kalachev 2023-05-26 16:21:54 +03:00
parent 147eef0af7
commit c5323f5723
2 changed files with 6 additions and 1 deletions
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3
flix/cli.ino
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@ -30,6 +30,7 @@ const char* motd =
"mot - show motor data\n"
"log - dump in-RAM log\n"
"cg - calibrate gyro\n"
"ca - calibrate accel\n"
"fullmot <n> - test motor on all signals\n"
"wifi - start wi-fi access point\n";
@ -85,6 +86,8 @@ static void doCommand()
dumpLog();
} else if (command == "cg") {
calibrateGyro();
} else if (command == "ca") {
calibrateAccel();
} else if (command == "mfr") {
cliTestMotor(MOTOR_FRONT_RIGHT);
} else if (command == "mfl") {

4
gazebo/flix.h
View File

@ -4,6 +4,7 @@
// Declarations of some functions and variables in Arduino code
#include <cmath>
#include <stdio.h>
#include "vector.h"
#include "quaternion.h"
@ -41,7 +42,8 @@ static void cliTestMotor(uint8_t n);
// mocks
void setLED(bool on) {};
void calibrateGyro() {};
void calibrateGyro() { printf("Skip gyro calibrating\n"); };
void calibrateAccel() { printf("Skip accel calibrating\n"); };
void fullMotorTest(int n) {};
void sendMotors() {};
void printIMUCal() { Serial.print("cal: N/A\n"); };