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Replace ps and psq commands with st command + minor changes

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Re-arrange commands order.
Make command parser consider \r in addition to \n.
This commit is contained in:
Oleg Kalachev
2026-05-30 16:51:15 +03:00
parent a5dbd2c829
commit faca48ced3
1 changed files with 9 additions and 10 deletions
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flix/cli.ino
+9 -10
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@@ -35,13 +35,14 @@ const char* motd =
"p <name> <value> - set parameter\n" "p <name> <value> - set parameter\n"
"preset - reset parameters\n" "preset - reset parameters\n"
"time - show time info\n" "time - show time info\n"
"ps - show pitch/roll/yaw\n"
"psq - show attitude quaternion\n"
"imu - show IMU data\n" "imu - show IMU data\n"
"ca - calibrate accel\n"
"st - show state estimation\n"
"arm - arm the drone\n" "arm - arm the drone\n"
"disarm - disarm the drone\n" "disarm - disarm the drone\n"
"raw/stab/acro/auto - set mode\n" "raw/stab/acro/auto - set mode\n"
"rc - show RC data\n" "rc - show RC data\n"
"cr - calibrate RC\n"
"pw - show power info\n" "pw - show power info\n"
"wifi - show Wi-Fi info\n" "wifi - show Wi-Fi info\n"
"ap <ssid> <password> - setup Wi-Fi access point\n" "ap <ssid> <password> - setup Wi-Fi access point\n"
@@ -49,8 +50,6 @@ const char* motd =
"espnow <mac> [<key>] - setup ESP-NOW peer\n" "espnow <mac> [<key>] - setup ESP-NOW peer\n"
"mot - show motor output\n" "mot - show motor output\n"
"log [dump] - print log header [and data]\n" "log [dump] - print log header [and data]\n"
"cr - calibrate RC\n"
"ca - calibrate accel\n"
"mfr, mfl, mrr, mrl - test motor (remove props)\n" "mfr, mfl, mrr, mrl - test motor (remove props)\n"
"sys - show system info\n" "sys - show system info\n"
"reset - reset drone's state\n" "reset - reset drone's state\n"
@@ -107,15 +106,15 @@ void doCommand(String str, bool echo = false) {
print("Time: %f\n", t); print("Time: %f\n", t);
print("Loop rate: %.0f\n", loopRate); print("Loop rate: %.0f\n", loopRate);
print("dt: %f\n", dt); print("dt: %f\n", dt);
} else if (command == "ps") {
Vector a = attitude.toEuler();
print("roll: %f pitch: %f yaw: %f\n", degrees(a.x), degrees(a.y), degrees(a.z));
} else if (command == "psq") {
print("qw: %f qx: %f qy: %f qz: %f\n", attitude.w, attitude.x, attitude.y, attitude.z);
} else if (command == "imu") { } else if (command == "imu") {
printIMUInfo(); printIMUInfo();
printIMUCalibration(); printIMUCalibration();
print("landed: %d\n", landed); print("landed: %d\n", landed);
} else if (command == "st") {
print("rates: %g %g %g\n", rates.x, rates.y, rates.z);
print("attitude: %g %g %g %g\n", attitude.w, attitude.x, attitude.y, attitude.z);
print("roll: %g° pitch: %g° yaw: %g°\n", degrees(attitude.getRoll()), degrees(attitude.getPitch()), degrees(attitude.getYaw()));
print("landed: %d\n", landed);
} else if (command == "arm") { } else if (command == "arm") {
armed = true; armed = true;
} else if (command == "disarm") { } else if (command == "disarm") {
@@ -207,7 +206,7 @@ void handleInput() {
while (Serial.available()) { while (Serial.available()) {
char c = Serial.read(); char c = Serial.read();
if (c == '\n') { if (c == '\n' || c == '\r') {
doCommand(input); doCommand(input);
input.clear(); input.clear();
} else { } else {