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human friendly pahr #57

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Merged
qqqlab merged 2 commits into from
Jul 2, 2025
Merged

human friendly pahr #57

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afc28d2
Add human friendly pahr
vidma Jun 15, 2025
afb4816
CLI_PRINT_FLAG_COUNT + 1
qqqlab Jul 2, 2025
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18 changes: 15 additions & 3 deletions src/cli/cli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,17 @@ static void cli_print_imu_MagData() {
Serial.printf("mx:%+.2f\tmy:%+.2f\tmz:%+.2f\t", ahr.mx, ahr.my, ahr.mz);
}

static void cli_print_ahr_RollPitchYaw_verbose() {
// from ahr.h:
// roll in degrees: -180 to 180, roll right is +
// pitch in degrees: -90 to 90, pitch up is +
// yaw in degrees: -180 to 180, yaw right is positive
const char* roll_str = (ahr.roll >= 0.0) ? "right" : "left"; // roll right is clockwise, is it?
const char* pitch_str = (ahr.pitch >= 0.0) ? "up" : "down";
const char* yaw_str = (ahr.yaw >= 0.0) ? "right" : "left";
Serial.printf("roll:%+.1f (roll %s)\tpitch:%+.1f (pitch %s)\tyaw:%+.1f (yaw %s)\t", ahr.roll, roll_str, ahr.pitch, pitch_str, ahr.yaw, yaw_str);
}

static void cli_print_ahr_RollPitchYaw() {
Serial.printf("roll:%+.1f\tpitch:%+.1f\tyaw:%+.1f\t", ahr.roll, ahr.pitch, ahr.yaw);
}
Expand Down Expand Up @@ -164,18 +175,19 @@ struct cli_print_s {
void (*function)(void);
};

#define CLI_PRINT_FLAG_COUNT 15
#define CLI_PRINT_FLAG_COUNT 16
bool cli_print_flag[CLI_PRINT_FLAG_COUNT] = {false};

static const struct cli_print_s cli_print_options[] = {
static const struct cli_print_s cli_print_options[CLI_PRINT_FLAG_COUNT] = {
{"po", "Overview", cli_print_overview},
{"ppwm", "Radio pwm (expected: 1000 to 2000)", cli_print_rcl_RadioPWM},
{"prcl", "Scaled radio (expected: -1 to 1)", cli_print_rcl_RadioScaled},
{"pimu", "IMU loop timing (expected: miss% <= 1)", cli_print_imu_Rate},
{"pgyr", "Filtered gyro (expected: -250 to 250, 0 at rest)", cli_print_imu_GyroData},
{"pacc", "Filtered accelerometer (expected: -2 to 2; when level: x=0,y=0,z=1)", cli_print_imu_AccData},
{"pmag", "Filtered magnetometer (expected: -300 to 300)", cli_print_imu_MagData},
{"pahr", "AHRS roll, pitch, and yaw (expected: degrees, 0 when level)", cli_print_ahr_RollPitchYaw},
{"pahr", "AHRS roll, pitch, and yaw in human friendly format (expected: degrees, 0 when level)", cli_print_ahr_RollPitchYaw_verbose},
{"pah", "AHRS roll, pitch, and yaw in less verbose format (expected: degrees, 0 when level)", cli_print_ahr_RollPitchYaw},
{"ppid", "PID output (expected: -1 to 1)", cli_print_control_PIDoutput},
{"pout", "Motor/servo output (expected: 0 to 1)", cli_print_out_Command},
{"pbat", "Battery voltage, current, Ah used and Wh used", cli_print_bat},
Expand Down