Console: imu prints what the motion sensor reads

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_0162FokPdvY2KsS4NBfwyWPk

src/main.cpp

@@ -684,6 +684,7 @@ static const char* const kHelp =
     "lora sweep on [from MHz] [to MHz] [step kHz] | lora sweep off | lora sweep dump   RSSI across a band (863 870 100)\n"
     "lora custom <MHz> <BW kHz> <SF> <CR 5-8> <sync hex> [preamble]   e.g. 868.1 125 7 5 34 8 (LoRaWAN)\n"
     "gnss quiet on|off   pause the GNSS receiver while the LoRa radio listens (it costs the radio 8 dB)\n"
+    "imu                 what the motion sensor reads: g on its three axes, then degrees a second\n"
     "gnss status | gnss restart | gnss track start|stop | gnss nmea on|off | gnss send <sentence without $ and checksum>\n"
     "crash             the last crash: firmware, reason, task, backtrace\n"
     "coredump erase    forget the core dump in flash\n"
@@ -1145,6 +1146,14 @@ static void runCommand(String line, bool fromSerial = false) {
         settings.setBool(Setting::GnssQuietForLora, line.endsWith("on"));
         console.printf("gnss quiet: %s\n", line.endsWith("on") ? "GNSS pauses while the LoRa radio listens" : "GNSS stays on");
     }
+    if (line == "imu") {  // the Compass's sensor (issue #16), as it reads now
+        if (!M5.Imu.update()) console.println("imu: no reading");
+        else {
+            auto d = M5.Imu.getImuData();
+            console.printf("imu: type %d, accel %.2f %.2f %.2f g, gyro %.1f %.1f %.1f deg/s\n", static_cast<int>(M5.Imu.getType()),
+                           d.accel.x, d.accel.y, d.accel.z, d.gyro.x, d.gyro.y, d.gyro.z);
+        }
+    }
     if (line == "gnss status" && gnssService) gnssService->printStatus(console, millis());
     if ((line == "gnss nmea on" || line == "gnss nmea off") && gnssService) gnssService->setEcho(line.endsWith("on"));
     if (line == "gnss restart" && gnssService) gnssService->restart(millis());