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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt und genannt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <stdlib.h>
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#include "commands.h"
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#include "controlMixer.h"
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#include "flight.h"
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#include "eeprom.h"
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#include "attitude.h"
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#include "output.h"
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#include "rc.h"
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#ifdef USE_MK3MAG
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// TODO: Kick that all outa here!
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uint8_t compassCalState = 0;
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#endif
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void commands_handleCommands(void) {
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        /*
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         * Get the current command (start/stop motors, calibrate), if any.
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         */
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        uint8_t command = controlMixer_getCommand();
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        uint8_t repeated = controlMixer_isCommandRepeated();
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        uint8_t argument = controlMixer_getArgument();
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        if (!(MKFlags & MKFLAG_MOTOR_RUN)) {
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                if (command == COMMAND_GYROCAL && !repeated) {
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                        // Run gyro calibration but do not repeat it.
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                        // TODO: out of here. Anyway, MKFLAG_MOTOR_RUN is cleared. Not enough?
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                        // isFlying = 0;
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                        // check roll/pitch stick position
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                        // if pitch stick is top or roll stick is left or right --> change parameter setting
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                        // according to roll/pitch stick position
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                        if (argument < 6) {
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                                // Gyro calinbration, with or without selecting a new parameter-set.
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                                if (argument > 0 && argument < 6) {
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                                        // A valid parameter-set (1..5) was chosen - use it.
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                                        setActiveParamSet(argument);
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                                }
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                                paramSet_readFromEEProm(getActiveParamSet());
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                                analog_calibrateGyros();
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                                attitude_setNeutral();
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                                controlMixer_setNeutral();
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                                beepNumber(getActiveParamSet());
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                        }
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#ifdef USE_MK3MAG
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                        else if ((staticParams.bitConfig & CFG_COMPASS_ENABLED) && argument == 7) {
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                                // If right stick is centered and down
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                                compassCalState = 1;
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                                beep(1000);
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                        }
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#endif
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                }
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                // save the ACC neutral setting to eeprom
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                else {
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                        if (command == COMMAND_ACCCAL && !repeated) {
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                                // Run gyro and acc. meter calibration but do not repeat it.
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                                analog_calibrateAcc();
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                                attitude_setNeutral();
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                                controlMixer_setNeutral();
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                                beepNumber(getActiveParamSet());
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                        }
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                }
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        } // end !MOTOR_RUN condition.
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        if (command == COMMAND_START) {
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                isFlying = 1; // TODO: Really????
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                // if (!controlMixer_isCommandRepeated()) {
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                // attitude_startDynamicCalibration(); // Try sense the effect of the motors on sensors.
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                MKFlags |= (MKFLAG_MOTOR_RUN | MKFLAG_START); // set flag RUN and START. TODO: Is that START flag used at all???
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                // } else { // Pilot is holding stick, ever after motor start. Continue to sense the effect of the motors on sensors.
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                // attitude_continueDynamicCalibration();
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                // setPointYaw = 0;
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                // IPartPitch = 0;
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                // IPartRoll = 0;
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                // }
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        } else if (command == COMMAND_STOP) {
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                isFlying = 0;
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                MKFlags &= ~(MKFLAG_MOTOR_RUN);
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        }
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}
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/*
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 *     if (controlMixer_testCompassCalState()) {
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      compassCalState++;
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      if (compassCalState < 5)
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        beepNumber(compassCalState);
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      else
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        beep(1000);
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    }
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 *
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 */
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#ifdef USE_MK3MAG
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uint8_t commands_isCalibratingCompass(void) {
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  return RC_testCompassCalState();
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}
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#endif