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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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| 2099 | - | 8 | #include "rc.h" |
| 1910 | - | 9 | |
| 2099 | - | 10 | #ifdef USE_MK3MAG |
| 11 | // TODO: Kick that all outa here! |
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| 12 | uint8_t compassCalState = 0; |
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| 13 | #endif |
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| 14 | |||
| 1910 | - | 15 | void commands_handleCommands(void) { |
| 2102 | - | 16 | /* |
| 17 | * Get the current command (start/stop motors, calibrate), if any. |
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| 18 | */ |
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| 19 | uint8_t command = controlMixer_getCommand(); |
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| 20 | uint8_t repeated = controlMixer_isCommandRepeated(); |
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| 21 | uint8_t argument = controlMixer_getArgument(); |
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| 2108 | - | 22 | if (!isFlying) { |
| 2102 | - | 23 | if (command == COMMAND_GYROCAL && !repeated) { |
| 24 | // Gyro calinbration, with or without selecting a new parameter-set. |
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| 25 | paramSet_readFromEEProm(1); |
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| 2106 | - | 26 | analog_calibrate(); |
| 2102 | - | 27 | attitude_setNeutral(); |
| 28 | controlMixer_setNeutral(); |
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| 2122 | - | 29 | |
| 30 | RC_calibrate(); |
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| 31 | rcTrim_writeToEEProm(); |
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| 32 | |||
| 2102 | - | 33 | beepNumber(1); |
| 34 | } else if (command == COMMAND_CHMOD && !repeated) { |
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| 35 | configuration_setFlightParameters(argument); |
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| 36 | } |
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| 37 | } // end !MOTOR_RUN condition. |
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| 1910 | - | 38 | } |