Report UNCALIBRATED sensors in status

[Raffi1202]

Problem

Issue #9997: the CLI status command prints GYRO=OK, ACC=OK, MAG=OK as soon as a sensor is detected and healthy, even when it has never been calibrated. A user whose navigation modes refuse to arm because of a missing calibration gets no hint from the one command they are usually asked to run. The reporter asked for UNCALIBRATED instead of OK for compass, accelerometer and gyro.

Cause

src/main/fc/cli.c:4187-4190 on maintenance-10.x: the sensor line indexes hardwareSensorStatusNames[] (cli.c:253, values NONE/OK/UNAVAILABLE/FAILING from hardwareSensorStatus_e in src/main/sensors/diagnostics.h:12) with the hardware health status only. Calibration state is never consulted, so a healthy but uncalibrated sensor prints OK.

Change

Adds a static helper hardwareSensorStatusName(status, isCalibrated) in cli.c that returns "UNCALIBRATED" when the status is HW_SENSOR_OK and the sensor is not calibrated, and the existing name otherwise. cliStatus() uses it for GYRO, ACC and MAG with gyroIsCalibrationComplete(), STATE(ACCELEROMETER_CALIBRATED) (the same flag fc_core.c:296 uses for the arming block) and compassIsCalibrationComplete() (treated as calibrated when USE_MAG is not built). hardwareSensorStatus_e is unchanged, so MSP_SENSOR_STATUS (fc_msp.c:512) and the two-bit blackbox packing (blackbox.c:1491) keep their values.

Test

Not run on hardware or SITL. Cause verified by reading cli.c:4187-4190 and the three calibration functions on maintenance-10.x;

Flash / RAM

Not measured yet. The upstream firmware CI has not been released for this PR, so no size report exists.

Docs

No documentation change needed: docs/Cli.md:124 lists status only as "Show status" and no file under docs/ enumerates the sensor status words.

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PR Summary by Qodo

Report uncalibrated sensors in CLI status

🐞 Bug fix 🕐 10-20 Minutes

AI Description

• Reports healthy but uncalibrated gyro, accelerometer, and compass sensors as UNCALIBRATED.
• Preserves hardware status enums, MSP values, blackbox packing, and non-OK sensor output.

Diagram

graph TD
    H["Sensor health"] --> D{"Healthy but uncalibrated?"} -->|Yes| U["UNCALIBRATED text"] --> O["CLI status"]
    G["Calibration flags"] --> D
    D -->|Otherwise| E["Enum status"] --> O

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High-Level Assessment

The following are alternative approaches to this PR:

1. Extend the hardware status enum

• ➕ Represents calibration state uniformly across all status consumers.
• ➕ Avoids CLI-specific interpretation of sensor health. calibration.
• ➖ A fifth value cannot fit the two-bit blackbox sensor fields.
• ➖ Existing MSP and Configurator consumers would interpret the value as a fault.
• ➖ Requires coordinated protocol, log-format, and user-interface migrations.

Recommendation: Keep the PR's CLI-only formatter. It resolves the misleading troubleshooting output while preserving the four-value hardware enum, blackbox encoding, MSP payloads, and Configurator behavior; extending the shared enum would create disproportionate compatibility risk.

Files changed (1) +20 / -3

Bug fix (1) +20 / -3

cli.cDisplay calibration-aware sensor status in the CLI +20/-3

Display calibration-aware sensor status in the CLI

• Adds a formatter that returns UNCALIBRATED only when a sensor is healthy but its calibration is incomplete. The status command now supplies existing gyro, persistent accelerometer, and feature-guarded compass calibration states while leaving all other sensor output unchanged.

src/main/fc/cli.c

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Code Review by Qodo

🐞 Bugs (0) 📘 Rule violations (0) 📎 Requirement gaps (0)

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