sl-firmware created pull request seb/saltylab-firmware#39

sl-firmware
Sat, 28 Feb 2026 21:50:42 -0500

39#feat: Gyro recalibration button in web UI (#32)#

Adds G CDC command to trigger gyro recalibration from the web UI.

Changes

safety_refresh() null-guard in safety.c (safe to call before safety_init())

mpu6000_calibrate() calls safety_refresh() every 40ms to prevent IWDG reset during re-cal

cdc_recal_request flag in usbd_cdc_if.c, case G in CDC_Receive

Main loop handles recal: disarm → recalibrate

GYRO CAL button in ui/index.html sends G, shows status message

Fixes #32