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1910 | - | 1 | #include <stdlib.h> |
2 | #include "commands.h" |
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3 | #include "controlMixer.h" |
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4 | #include "flight.h" |
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5 | #include "eeprom.h" |
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6 | #include "attitude.h" |
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7 | #include "output.h" |
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8 | |||
9 | void commands_handleCommands(void) { |
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10 | /* |
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11 | * Get the current command (start/stop motors, calibrate), if any. |
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12 | */ |
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13 | uint8_t command = controlMixer_getCommand(); |
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14 | uint8_t repeated = controlMixer_isCommandRepeated(); |
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15 | uint8_t argument = controlMixer_getArgument(); |
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16 | |||
17 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
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18 | if (command == COMMAND_GYROCAL && !repeated) { |
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19 | // Run gyro calibration but do not repeat it. |
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20 | GRN_OFF; |
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21 | |||
22 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
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23 | // isFlying = 0; |
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24 | // check roll/pitch stick position |
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25 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
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26 | // according to roll/pitch stick position |
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27 | |||
28 | if (argument < 6) { |
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29 | // Gyro calinbration, with or without selecting a new parameter-set. |
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30 | if (argument > 0 && argument < 6) { |
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31 | // A valid parameter-set (1..5) was chosen - use it. |
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32 | setActiveParamSet(argument); |
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33 | } |
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34 | ParamSet_ReadFromEEProm(getActiveParamSet()); |
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35 | attitude_setNeutral(); |
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36 | flight_setNeutral(); |
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37 | controlMixer_setNeutral(); |
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38 | beepNumber(getActiveParamSet()); |
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39 | } else if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE |
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40 | | CFG_GPS_ACTIVE) && argument == 7) { |
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41 | // If right stick is centered and down |
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42 | // TODO: Out of here! State machine instead. |
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43 | compassCalState = 1; |
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44 | beep(1000); |
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45 | } |
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46 | } |
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47 | |||
48 | // save the ACC neutral setting to eeprom |
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49 | else { |
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50 | if (command == COMMAND_ACCCAL && !repeated) { |
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51 | // Run gyro and acc. meter calibration but do not repeat it. |
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52 | GRN_OFF; |
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53 | analog_calibrateAcc(); |
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54 | attitude_setNeutral(); |
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55 | flight_setNeutral(); |
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56 | controlMixer_setNeutral(); |
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57 | beepNumber(getActiveParamSet()); |
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58 | } |
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59 | } |
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60 | } // end !MOTOR_RUN condition. |
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61 | if (command == COMMAND_START) { |
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62 | isFlying = 1; // TODO: Really???? |
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63 | // if (!controlMixer_isCommandRepeated()) { |
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64 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
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65 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
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66 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
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67 | // attitude_continueDynamicCalibration(); |
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68 | // setPointYaw = 0; |
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69 | // IPartPitch = 0; |
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70 | // IPartRoll = 0; |
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71 | // } |
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72 | } else if (command == COMMAND_STOP) { |
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73 | isFlying = 0; |
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74 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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75 | } |
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76 | } |