Subversion Repositories FlightCtrl

Rev

Rev 2099 | Rev 2106 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
1910 - 1
#include <stdlib.h>
2
#include "commands.h"
3
#include "controlMixer.h"
4
#include "flight.h"
5
#include "eeprom.h"
6
#include "attitude.h"
7
#include "output.h"
2099 - 8
#include "rc.h"
1910 - 9
 
2099 - 10
#ifdef USE_MK3MAG
11
// TODO: Kick that all outa here!
12
uint8_t compassCalState = 0;
13
#endif
14
 
1910 - 15
void commands_handleCommands(void) {
2102 - 16
        /*
17
         * Get the current command (start/stop motors, calibrate), if any.
18
         */
19
        uint8_t command = controlMixer_getCommand();
20
        uint8_t repeated = controlMixer_isCommandRepeated();
21
        uint8_t argument = controlMixer_getArgument();
1910 - 22
 
2102 - 23
        // TODO! Mode change gadget of some kind.
24
        if (!isMotorRunning) {
25
                if (command == COMMAND_GYROCAL && !repeated) {
26
                        // Gyro calinbration, with or without selecting a new parameter-set.
27
                        paramSet_readFromEEProm(1);
28
                        analog_calibrateGyros();
29
                        attitude_setNeutral();
30
                        controlMixer_setNeutral();
31
                        beepNumber(1);
32
                } else if (command == COMMAND_CHMOD && !repeated) {
33
                        configuration_setFlightParameters(argument);
34
                }
35
        } // end !MOTOR_RUN condition.
1910 - 36
}