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| 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 | |||
| 16 | if (!(MKFlags & MKFLAG_MOTOR_RUN)) { |
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| 17 | if (command == COMMAND_GYROCAL && !repeated) { |
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| 18 | // Run gyro calibration but do not repeat it. |
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| 19 | GRN_OFF; |
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| 20 | |||
| 21 | // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough? |
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| 22 | // isFlying = 0; |
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| 23 | // check roll/pitch stick position |
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| 24 | // if pitch stick is top or roll stick is left or right --> change parameter setting |
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| 25 | // according to roll/pitch stick position |
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| 26 | |||
| 1927 | - | 27 | ParamSet_ReadFromEEProm(); |
| 1910 | - | 28 | attitude_setNeutral(); |
| 29 | flight_setNeutral(); |
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| 30 | controlMixer_setNeutral(); |
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| 1927 | - | 31 | beepNumber(1); |
| 1910 | - | 32 | } |
| 33 | |||
| 34 | // save the ACC neutral setting to eeprom |
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| 1927 | - | 35 | else if (command == COMMAND_ACCCAL && !repeated) { |
| 1910 | - | 36 | // Run gyro and acc. meter calibration but do not repeat it. |
| 37 | GRN_OFF; |
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| 38 | analog_calibrateAcc(); |
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| 39 | attitude_setNeutral(); |
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| 40 | flight_setNeutral(); |
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| 41 | controlMixer_setNeutral(); |
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| 1927 | - | 42 | beepNumber(1); |
| 1910 | - | 43 | } |
| 44 | } // end !MOTOR_RUN condition. |
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| 45 | if (command == COMMAND_START) { |
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| 46 | isFlying = 1; // TODO: Really???? |
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| 47 | // if (!controlMixer_isCommandRepeated()) { |
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| 48 | // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors. |
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| 49 | MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all??? |
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| 50 | // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors. |
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| 51 | // attitude_continueDynamicCalibration(); |
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| 52 | // setPointYaw = 0; |
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| 53 | // IPartPitch = 0; |
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| 54 | // IPartRoll = 0; |
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| 55 | // } |
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| 56 | } else if (command == COMMAND_STOP) { |
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| 57 | isFlying = 0; |
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| 58 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
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| 59 | } |
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| 60 | } |