Print the IMU information in imu command

okalachev · Oct 31, 2024 · ad2c646 · ad2c646
1 parent 39d4f39
commit ad2c646
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diff --git a/flix/cli.ino b/flix/cli.ino
@@ -70,6 +70,7 @@ void doCommand(String& command, String& value) {
 	} else if (command == "psq") {
 		Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
 	} else if (command == "imu") {
+		printIMUInfo();
 		Serial.printf("gyro: %f %f %f\n", rates.x, rates.y, rates.z);
 		Serial.printf("acc: %f %f %f\n", acc.x, acc.y, acc.z);
 		printIMUCal();

diff --git a/flix/imu.ino b/flix/imu.ino
@@ -122,3 +122,8 @@ void printIMUCal() {
 	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);
 }
+
+void printIMUInfo() {
+	Serial.printf("type: %s\n", IMU.getType());
+	Serial.printf("who am I: 0x%02X\n", IMU.whoAmI());
+}