Rev 1927 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | } |