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Add CLI command for rebooting the drone

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This commit is contained in:
Oleg Kalachev 2024-12-20 20:59:59 +03:00
parent d01d5b7ecb
commit f54da5bf42
2 changed files with 9 additions and 1 deletions
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5
flix/cli.ino
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@ -31,7 +31,8 @@ const char* motd =
"cg - calibrate gyro\n" "cg - calibrate gyro\n"
"ca - calibrate accel\n" "ca - calibrate accel\n"
"mfr, mfl, mrr, mrl - test motor\n" "mfr, mfl, mrr, mrl - test motor\n"
"reset - reset drone's state\n"; "reset - reset drone's state\n"
"reboot - reboot the drone\n";
const struct Param { const struct Param {
const char* name; const char* name;
@ -103,6 +104,8 @@ void doCommand(String& command, String& value) {
cliTestMotor(MOTOR_REAR_LEFT); cliTestMotor(MOTOR_REAR_LEFT);
} else if (command == "reset") { } else if (command == "reset") {
attitude = Quaternion(); attitude = Quaternion();
} else if (command == "reboot") {
ESP.restart();
} else { } else {
float val = value.toFloat(); float val = value.toFloat();
// TODO: on error returns 0, check invalid value // TODO: on error returns 0, check invalid value

5
gazebo/Arduino.h
View File

@ -129,6 +129,11 @@ public:
HardwareSerial Serial, Serial2; HardwareSerial Serial, Serial2;
class EspClass {
public:
void restart() { Serial.println("Ignore reboot in simulation"); }
} ESP;
void delay(uint32_t ms) { void delay(uint32_t ms) {
std::this_thread::sleep_for(std::chrono::milliseconds(ms)); std::this_thread::sleep_for(std::chrono::milliseconds(ms));
} }