mirror of https://github.com/ArduPilot/ardupilot
479 lines
14 KiB
Plaintext
479 lines
14 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CLI_ENABLED == ENABLED
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_level (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_set (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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// Command/function table for the setup menu
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static const struct Menu::command setup_menu_commands[] PROGMEM = {
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// command function called
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// ======= ===============
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{"reset", setup_factory},
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{"radio", setup_radio},
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{"level", setup_level},
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{"accel", setup_accel_scale},
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{"compass", setup_compass},
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{"show", setup_show},
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{"set", setup_set},
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{"erase", setup_erase},
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};
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// Create the setup menu object.
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MENU(setup_menu, "setup", setup_menu_commands);
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// Called from the top-level menu to run the setup menu.
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static int8_t
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setup_mode(uint8_t argc, const Menu::arg *argv)
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{
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// Give the user some guidance
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cliSerial->printf_P(PSTR("Setup Mode\n"
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"\n"
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"IMPORTANT: if you have not previously set this system up, use the\n"
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"'reset' command to initialize the EEPROM to sensible default values\n"
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"and then the 'radio' command to configure for your radio.\n"
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"\n"));
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// Run the setup menu. When the menu exits, we will return to the main menu.
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setup_menu.run();
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return 0;
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}
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// Print the current configuration.
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// Called by the setup menu 'show' command.
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static int8_t
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setup_show(uint8_t argc, const Menu::arg *argv)
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{
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AP_Param *param;
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ap_var_type type;
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//If a parameter name is given as an argument to show, print only that parameter
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if(argc>=2)
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{
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param=AP_Param::find(argv[1].str, &type);
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if(!param)
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{
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cliSerial->printf_P(PSTR("Parameter not found: '%s'\n"), argv[1]);
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return 0;
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}
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AP_Param::show(param, argv[1].str, type, cliSerial);
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return 0;
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}
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AP_Param::show_all(cliSerial);
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return(0);
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}
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//Set a parameter to a specified value. It will cast the value to the current type of the
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//parameter and make sure it fits in case of INT8 and INT16
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static int8_t setup_set(uint8_t argc, const Menu::arg *argv)
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{
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int8_t value_int8;
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int16_t value_int16;
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AP_Param *param;
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enum ap_var_type p_type;
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if(argc!=3)
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{
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cliSerial->printf_P(PSTR("Invalid command. Usage: set <name> <value>\n"));
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return 0;
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}
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param = AP_Param::find(argv[1].str, &p_type);
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if(!param)
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{
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cliSerial->printf_P(PSTR("Param not found: %s\n"), argv[1].str);
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return 0;
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}
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switch(p_type)
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{
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case AP_PARAM_INT8:
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value_int8 = (int8_t)(argv[2].i);
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if(argv[2].i!=value_int8)
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{
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cliSerial->printf_P(PSTR("Value out of range for type INT8\n"));
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return 0;
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}
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((AP_Int8*)param)->set_and_save(value_int8);
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break;
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case AP_PARAM_INT16:
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value_int16 = (int16_t)(argv[2].i);
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if(argv[2].i!=value_int16)
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{
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cliSerial->printf_P(PSTR("Value out of range for type INT16\n"));
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return 0;
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}
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((AP_Int16*)param)->set_and_save(value_int16);
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break;
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//int32 and float don't need bounds checking, just use the value provoded by Menu::arg
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case AP_PARAM_INT32:
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((AP_Int32*)param)->set_and_save(argv[2].i);
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break;
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case AP_PARAM_FLOAT:
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((AP_Float*)param)->set_and_save(argv[2].f);
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break;
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default:
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cliSerial->printf_P(PSTR("Cannot set parameter of type %d.\n"), p_type);
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break;
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}
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return 0;
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}
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// Initialise the EEPROM to 'factory' settings (mostly defined in APM_Config.h or via defaults).
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// Called by the setup menu 'factoryreset' command.
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static int8_t
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setup_factory(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to perform factory reset, any other key to abort: "));
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do {
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c = cliSerial->read();
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} while (-1 == c);
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if (('y' != c) && ('Y' != c))
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return(-1);
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AP_Param::erase_all();
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cliSerial->printf_P(PSTR("\nFACTORY RESET complete - please reset board to continue"));
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//default_flight_modes(); // This will not work here. Replacement code located in init_ardupilot()
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for (;; ) {
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}
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// note, cannot actually return here
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return(0);
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}
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// Perform radio setup.
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// Called by the setup menu 'radio' command.
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static int8_t
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setup_radio(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("\n\nRadio Setup:\n"));
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uint8_t i;
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for(i = 0; i < 100; i++) {
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hal.scheduler->delay(20);
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read_radio();
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}
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if(channel_roll->radio_in < 500) {
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while(1) {
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cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
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hal.scheduler->delay(1000);
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// stop here
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}
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}
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channel_roll->radio_min = channel_roll->radio_in;
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channel_pitch->radio_min = channel_pitch->radio_in;
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channel_throttle->radio_min = channel_throttle->radio_in;
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channel_rudder->radio_min = channel_rudder->radio_in;
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g.rc_5.radio_min = g.rc_5.radio_in;
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g.rc_6.radio_min = g.rc_6.radio_in;
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g.rc_7.radio_min = g.rc_7.radio_in;
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g.rc_8.radio_min = g.rc_8.radio_in;
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channel_roll->radio_max = channel_roll->radio_in;
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channel_pitch->radio_max = channel_pitch->radio_in;
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channel_throttle->radio_max = channel_throttle->radio_in;
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channel_rudder->radio_max = channel_rudder->radio_in;
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g.rc_5.radio_max = g.rc_5.radio_in;
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g.rc_6.radio_max = g.rc_6.radio_in;
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g.rc_7.radio_max = g.rc_7.radio_in;
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g.rc_8.radio_max = g.rc_8.radio_in;
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channel_roll->radio_trim = channel_roll->radio_in;
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channel_pitch->radio_trim = channel_pitch->radio_in;
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channel_rudder->radio_trim = channel_rudder->radio_in;
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g.rc_5.radio_trim = 1500;
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g.rc_6.radio_trim = 1500;
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g.rc_7.radio_trim = 1500;
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g.rc_8.radio_trim = 1500;
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cliSerial->printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: \n"));
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while(1) {
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hal.scheduler->delay(20);
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// Filters radio input - adjust filters in the radio.pde file
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// ----------------------------------------------------------
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read_radio();
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channel_roll->update_min_max();
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channel_pitch->update_min_max();
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channel_throttle->update_min_max();
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channel_rudder->update_min_max();
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g.rc_5.update_min_max();
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g.rc_6.update_min_max();
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g.rc_7.update_min_max();
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g.rc_8.update_min_max();
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if(cliSerial->available() > 0) {
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while (cliSerial->available() > 0) {
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cliSerial->read();
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}
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channel_roll->save_eeprom();
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channel_pitch->save_eeprom();
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channel_throttle->save_eeprom();
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channel_rudder->save_eeprom();
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g.rc_5.save_eeprom();
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g.rc_6.save_eeprom();
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g.rc_7.save_eeprom();
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g.rc_8.save_eeprom();
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print_done();
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break;
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}
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}
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trim_radio();
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report_radio();
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return(0);
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}
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static int8_t
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setup_erase(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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cliSerial->printf_P(PSTR("\nType 'Y' and hit Enter to erase all waypoint and parameter data, any other key to abort: "));
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do {
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c = cliSerial->read();
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} while (-1 == c);
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if (('y' != c) && ('Y' != c))
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return(-1);
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zero_eeprom();
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return 0;
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}
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static int8_t
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setup_level(uint8_t argc, const Menu::arg *argv)
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{
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startup_INS_ground(true);
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return 0;
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}
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/*
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handle full accelerometer calibration via user dialog
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*/
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static int8_t
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setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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{
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float trim_roll, trim_pitch;
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cliSerial->println_P(PSTR("Initialising gyros"));
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ahrs.init();
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ahrs.set_fly_forward(true);
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ahrs.set_wind_estimation(true);
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ins.init(AP_InertialSensor::COLD_START, ins_sample_rate);
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AP_InertialSensor_UserInteractStream interact(hal.console);
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bool success = ins.calibrate_accel(&interact, trim_roll, trim_pitch);
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if (success) {
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// reset ahrs's trim to suggested values from calibration routine
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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report_ins();
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return(0);
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}
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static int8_t
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setup_compass(uint8_t argc, const Menu::arg *argv)
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{
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if (!strcmp_P(argv[1].str, PSTR("on"))) {
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if (!compass.init()) {
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cliSerial->println_P(PSTR("Compass initialisation failed!"));
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g.compass_enabled = false;
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} else {
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g.compass_enabled = true;
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}
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} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
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g.compass_enabled = false;
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} else if (!strcmp_P(argv[1].str, PSTR("reset"))) {
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compass.set_and_save_offsets(0,0,0,0);
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} else {
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cliSerial->printf_P(PSTR("\nOptions:[on,off,reset]\n"));
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report_compass();
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return 0;
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}
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g.compass_enabled.save();
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report_compass();
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return 0;
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}
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/***************************************************************************/
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// CLI reports
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/***************************************************************************/
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static void report_radio()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Radio\n"));
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print_divider();
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// radio
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print_radio_values();
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print_blanks(2);
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}
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static void report_ins()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("INS\n"));
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print_divider();
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print_gyro_offsets();
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print_accel_offsets_and_scaling();
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print_blanks(2);
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}
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static void report_compass()
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{
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//print_blanks(2);
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cliSerial->printf_P(PSTR("Compass: "));
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switch (compass.product_id) {
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case AP_COMPASS_TYPE_HMC5883L:
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cliSerial->println_P(PSTR("HMC5883L"));
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break;
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case AP_COMPASS_TYPE_HMC5843:
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cliSerial->println_P(PSTR("HMC5843"));
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break;
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case AP_COMPASS_TYPE_HIL:
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cliSerial->println_P(PSTR("HIL"));
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break;
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case AP_COMPASS_TYPE_PX4:
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cliSerial->println_P(PSTR("PX4"));
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break;
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case AP_COMPASS_TYPE_VRBRAIN:
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cliSerial->println_P(PSTR("VRBRAIN"));
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break;
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case AP_COMPASS_TYPE_AK8963_MPU9250:
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cliSerial->println_P(PSTR("AK8963_MPU9250"));
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break;
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default:
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cliSerial->println_P(PSTR("(unknown)"));
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break;
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}
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print_divider();
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print_enabled(g.compass_enabled);
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Vector3f offsets = compass.get_offsets();
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// mag offsets
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cliSerial->printf_P(PSTR("Mag offsets: %4.4f, %4.4f, %4.4f\n"),
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offsets.x,
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offsets.y,
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offsets.z);
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print_blanks(2);
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}
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/***************************************************************************/
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// CLI utilities
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/***************************************************************************/
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static void
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print_radio_values()
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{
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cliSerial->printf_P(PSTR("CH1: %d | %d | %d\n"), (int)channel_roll->radio_min, (int)channel_roll->radio_trim, (int)channel_roll->radio_max);
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cliSerial->printf_P(PSTR("CH2: %d | %d | %d\n"), (int)channel_pitch->radio_min, (int)channel_pitch->radio_trim, (int)channel_pitch->radio_max);
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cliSerial->printf_P(PSTR("CH3: %d | %d | %d\n"), (int)channel_throttle->radio_min, (int)channel_throttle->radio_trim, (int)channel_throttle->radio_max);
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cliSerial->printf_P(PSTR("CH4: %d | %d | %d\n"), (int)channel_rudder->radio_min, (int)channel_rudder->radio_trim, (int)channel_rudder->radio_max);
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cliSerial->printf_P(PSTR("CH5: %d | %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_trim, (int)g.rc_5.radio_max);
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cliSerial->printf_P(PSTR("CH6: %d | %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_trim, (int)g.rc_6.radio_max);
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cliSerial->printf_P(PSTR("CH7: %d | %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_trim, (int)g.rc_7.radio_max);
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cliSerial->printf_P(PSTR("CH8: %d | %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_trim, (int)g.rc_8.radio_max);
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}
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static void
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print_done()
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{
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cliSerial->printf_P(PSTR("\nSaved Settings\n\n"));
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}
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static void
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print_blanks(int16_t num)
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{
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while(num > 0) {
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num--;
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cliSerial->println();
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}
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}
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static void
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print_divider(void)
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{
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for (int16_t i = 0; i < 40; i++) {
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cliSerial->printf_P(PSTR("-"));
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}
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cliSerial->println();
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}
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static void zero_eeprom(void)
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{
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cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
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StorageManager::erase();
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cliSerial->printf_P(PSTR("done\n"));
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}
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static void print_enabled(bool b)
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{
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if(b)
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cliSerial->printf_P(PSTR("en"));
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else
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cliSerial->printf_P(PSTR("dis"));
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cliSerial->printf_P(PSTR("abled\n"));
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}
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static void
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print_accel_offsets_and_scaling(void)
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{
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Vector3f accel_offsets = ins.get_accel_offsets();
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Vector3f accel_scale = ins.get_accel_scale();
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cliSerial->printf_P(PSTR("Accel offsets: %4.2f, %4.2f, %4.2f\tscale: %4.2f, %4.2f, %4.2f\n"),
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(float)accel_offsets.x, // Pitch
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(float)accel_offsets.y, // Roll
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(float)accel_offsets.z, // YAW
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(float)accel_scale.x, // Pitch
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(float)accel_scale.y, // Roll
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(float)accel_scale.z); // YAW
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}
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static void
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print_gyro_offsets(void)
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{
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Vector3f gyro_offsets = ins.get_gyro_offsets();
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cliSerial->printf_P(PSTR("Gyro offsets: %4.2f, %4.2f, %4.2f\n"),
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(float)gyro_offsets.x,
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(float)gyro_offsets.y,
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(float)gyro_offsets.z);
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}
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#endif // CLI_ENABLED
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