From c5323f5723aea8ffec442dabfe73ad76775294b2 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 26 May 2023 16:21:54 +0300
Subject: [PATCH] Add accel calibration command

---
 flix/cli.ino  | 3 +++
 gazebo/flix.h | 4 +++-
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/flix/cli.ino b/flix/cli.ino
index 493ada8..513ad2e 100644
--- a/flix/cli.ino
+++ b/flix/cli.ino
@@ -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") {
diff --git a/gazebo/flix.h b/gazebo/flix.h
index 7f4c4dd..83d59b5 100644
--- a/gazebo/flix.h
+++ b/gazebo/flix.h
@@ -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"); };