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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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24
flix/imu.ino
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@@ -14,7 +14,7 @@ Vector gyroBias;
Vector accScale(1, 1, 1);
void setupIMU() {
Serial.println("Setup IMU");
print("Setup IMU\n");
IMU.begin();
configureIMU();
delay(500); // wait a bit before calibrating
@@ -49,7 +49,7 @@ void rotateIMU(Vector& data) {
void calibrateGyro() {
const int samples = 1000;
Serial.println("Calibrating gyro, stand still");
print("Calibrating gyro, stand still\n");
IMU.setGyroRange(IMU.GYRO_RANGE_250DPS); // the most sensitive mode
gyroBias = Vector(0, 0, 0);
@@ -65,7 +65,7 @@ void calibrateGyro() {
}
void calibrateAccel() {
Serial.println("Calibrating accelerometer");
print("Calibrating accelerometer\n");
IMU.setAccelRange(IMU.ACCEL_RANGE_2G); // the most sensitive mode
Serial.setTimeout(60000);
@@ -108,22 +108,22 @@ void calibrateAccelOnce() {
if (acc.x < accMin.x) accMin.x = acc.x;
if (acc.y < accMin.y) accMin.y = acc.y;
if (acc.z < accMin.z) accMin.z = acc.z;
Serial.printf("acc %f %f %f\n", acc.x, acc.y, acc.z);
Serial.printf("max %f %f %f\n", accMax.x, accMax.y, accMax.z);
Serial.printf("min %f %f %f\n", accMin.x, accMin.y, accMin.z);
print("acc %f %f %f\n", acc.x, acc.y, acc.z);
print("max %f %f %f\n", accMax.x, accMax.y, accMax.z);
print("min %f %f %f\n", accMin.x, accMin.y, accMin.z);
// Compute scale and bias
accScale = (accMax - accMin) / 2 / ONE_G;
accBias = (accMax + accMin) / 2;
}
void printIMUCal() {
Serial.printf("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
Serial.printf("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
Serial.printf("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
print("gyro bias: %f %f %f\n", gyroBias.x, gyroBias.y, gyroBias.z);
print("accel bias: %f %f %f\n", accBias.x, accBias.y, accBias.z);
print("accel scale: %f %f %f\n", accScale.x, accScale.y, accScale.z);
}
void printIMUInfo() {
IMU.status() ? Serial.printf("status: ERROR %d\n", IMU.status()) : Serial.println("status: OK");
Serial.printf("model: %s\n", IMU.getModel());
Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
IMU.status() ? print("status: ERROR %d\n", IMU.status()) : print("status: OK\n");
print("model: %s\n", IMU.getModel());
print("who am I: 0x%02X\n", IMU.whoAmI());
}