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Support MAVLink console

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Implement receiving and sending SERIAL_CONTROL message
Use global defined print function instead of Serial.printf
This commit is contained in:
Oleg Kalachev
2025-02-18 10:33:01 +03:00
parent bfef7bd26a
commit d60628e14d
13 changed files with 103 additions and 55 deletions
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56
flix/cli.ino
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@@ -5,6 +5,7 @@
#include "pid.h"
#include "vector.h"
#include "util.h"
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
extern float loopRate, dt;
@@ -39,52 +40,69 @@ const char* motd =
"reset - reset drone's state\n"
"reboot - reboot the drone\n";
void doCommand(String str) {
void print(const char* format, ...) {
char buf[1000];
va_list args;
va_start(args, format);
vsnprintf(buf, sizeof(buf), format, args);
va_end(args);
Serial.print(buf);
#if WIFI_ENABLED
mavlinkPrint(buf);
#endif
}
void doCommand(String str, bool echo = false) {
// parse command
String command, arg0, arg1;
splitString(str, command, arg0, arg1);
// echo command
if (echo && !command.isEmpty()) {
print("> %s\n", str.c_str());
}
// execute command
if (command == "help" || command == "motd") {
Serial.println(motd);
print("%s\n", motd);
} else if (command == "p" && arg0 == "") {
printParameters();
} else if (command == "p" && arg0 != "" && arg1 == "") {
Serial.printf("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
print("%s = %g\n", arg0.c_str(), getParameter(arg0.c_str()));
} else if (command == "p") {
bool success = setParameter(arg0.c_str(), arg1.toFloat());
if (success) {
Serial.printf("%s = %g\n", arg0.c_str(), arg1.toFloat());
print("%s = %g\n", arg0.c_str(), arg1.toFloat());
} else {
Serial.printf("Parameter not found: %s\n", arg0.c_str());
print("Parameter not found: %s\n", arg0.c_str());
}
} else if (command == "preset") {
resetParameters();
} else if (command == "time") {
Serial.printf("Time: %f\n", t);
Serial.printf("Loop rate: %f\n", loopRate);
Serial.printf("dt: %f\n", dt);
print("Time: %f\n", t);
print("Loop rate: %f\n", loopRate);
print("dt: %f\n", dt);
} else if (command == "ps") {
Vector a = attitude.toEulerZYX();
Serial.printf("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
} else if (command == "psq") {
Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
print("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") {
printIMUInfo();
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);
print("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
print("acc: %f %f %f\n", acc.x, acc.y, acc.z);
printIMUCal();
Serial.printf("rate: %f\n", loopRate);
print("rate: %f\n", loopRate);
} else if (command == "rc") {
Serial.printf("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
print("Raw: throttle %d yaw %d pitch %d roll %d armed %d mode %d\n",
channels[throttleChannel], channels[yawChannel], channels[pitchChannel],
channels[rollChannel], channels[armedChannel], channels[modeChannel]);
Serial.printf("Control: throttle %g yaw %g pitch %g roll %g armed %g mode %g\n",
print("Control: throttle %g yaw %g pitch %g roll %g armed %g mode %g\n",
controls[throttleChannel], controls[yawChannel], controls[pitchChannel],
controls[rollChannel], controls[armedChannel], controls[modeChannel]);
Serial.printf("Mode: %s\n", getModeName());
print("Mode: %s\n", getModeName());
} else if (command == "mot") {
Serial.printf("Motors: front-right %g front-left %g rear-right %g rear-left %g\n",
print("Motors: front-right %g front-left %g rear-right %g rear-left %g\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
} else if (command == "log") {
dumpLog();
@@ -109,7 +127,7 @@ void doCommand(String str) {
} else if (command == "") {
// do nothing
} else {
Serial.println("Invalid command: " + command);
print("Invalid command: %s\n", command.c_str());
}
}
@@ -118,7 +136,7 @@ void handleInput() {
static String input;
if (showMotd) {
Serial.println(motd);
print("%s\n", motd);
showMotd = false;
}